Surgical stapling instrument comprising an articulation joint

ABSTRACT

In various embodiments, a surgical stapling instrument can comprise a plurality of magnetic elements configured to articulate an end effector of the surgical instrument. The surgical instrument can comprise at least one electromagnet which can be selectively activated, or polarized, to generate a magnetic field sufficient to motivate a second magnetic element, such as a permanent magnet and/or an iron core, for example, mounted to the end effector. In certain embodiments, a surgical stapling instrument can comprise a plurality of magnetic elements configured to open and/or close an end effector of the surgical instrument. In at least one embodiment, a surgical stapling instrument can comprise a plurality of magnetic elements configured to advance and/or retract a firing bar, cutting member, and/or staple sled within the surgical instrument in order to incise and/or staple tissue positioned within an end effector of the surgical instrument.

BACKGROUND

i. Technical Field

The present invention relates, in general, to surgical instruments and,more particularly, to surgical stapling instruments.

ii. Background of the Related Art

Surgical stapling instruments have been used to simultaneously make anincision in tissue and apply lines of staples on opposing sides of theincision. Such instruments commonly include a pair of cooperating jawmembers that, if the instrument is intended for endoscopic orlaparoscopic applications, are capable of passing through a cannulapassageway. In various embodiments, one of the jaw members can receive astaple cartridge having at least two laterally spaced rows of staples.The other jaw member can define an anvil having staple-forming pocketsaligned with the rows of staples in the cartridge. The instrument canfurther include a plurality of wedges, or a staple sled, which, whendriven distally, passes through openings in the staple cartridge andengages drivers supporting the staples in order to effect the firing ofthe staples toward the anvil. The simultaneous severing of tissue whileforming rows of staples on each side of the cut can reduce bleeding andsimplify various surgical procedures. In certain circumstances, however,the force required to form the staples and incise the tissuesimultaneously may be significant.

Previous surgical stapling instruments have included a handle assembly,an elongate shaft extending from the handle assembly, and an endeffector movably mounted to the elongate shaft, wherein the end effectorcan be articulated relative to the elongate shaft. Often, a surgeon isrequired to use both hands in order to articulate the end effectorrelative to the shaft, i.e., the surgeon is often required to use onehand to hold the handle assembly of the surgical instrument, forexample, and use their other hand to operate a lever, for example, whicharticulates the end effector. While such surgical instruments can besuitable in many circumstances, a surgeon may not have a hand free toperform another step in the surgical procedure. The foregoing discussionis intended only to illustrate some of the shortcomings present in thefield of the invention at the time, and should not be taken as adisavowal of claim scope.

SUMMARY

In one general aspect, a surgical instrument can comprise a plurality ofmagnetic elements configured to articulate an end effector of thesurgical instrument. The surgical instrument can comprise at least oneelectromagnet which can be selectively activated, or polarized, togenerate a magnetic field sufficient to motivate at least one secondmagnetic element, such as a permanent magnet and/or an iron core, forexample, mounted to the end effector. In various embodiments, a surgicalinstrument can comprise a first electromagnet configured to generate afirst magnetic field which rotates an end effector in a first directionand, in addition, a second electromagnet configured to generate a secondmagnetic field which rotates the end effector in a second direction. Incertain embodiments, a surgical instrument can comprise at least onesolenoid which can be configured to pivot an end effector of thesurgical instrument.

In one general aspect, a surgical instrument can comprise a motor whichcan be configured to pivot an end effector of the surgical instrument.In certain embodiments, the motor can comprise windings which can beselectively energized to rotate an iron core. In at least oneembodiment, the motor can comprise at least one electromagnet which canbe configured to rotate a shaft having at least one magnetic elementmounted thereto. In various embodiments, a surgical instrument canfurther comprise a lock and/or brake which can be configured to prevent,or at least inhibit, the articulation of the end effector of thesurgical instrument. In certain embodiments, a lock can comprise atleast one solenoid, motor, and/or electromagnet which can be configuredto move a locking element between locked and unlocked positions in orderto engage and disengage the locking element with the end effector.

In one general aspect, a surgical instrument can comprise a plurality ofmagnetic elements configured to open and close an end effector of thesurgical instrument. In certain embodiments, the surgical instrument cancomprise at least one electromagnet which can be selectively activated,or polarized, to generate a magnetic field sufficient to motivate atleast one second magnetic element, such as a permanent magnet and/or aniron core, for example, mounted to an anvil of the end effector. Inanother general aspect, a surgical stapling instrument can comprise aplurality of magnetic elements configured to advance and/or retract afiring bar, cutting member, and/or staple sled within the surgicalinstrument in order to incise and/or staple tissue positioned within anend effector of the surgical instrument. In certain embodiments, thecutting element can comprise at least one electromagnet mounted theretowhich can be configured to generate a magnetic field configured tointeract with one or more permanent magnets, for example, mounted to theend effector.

This Summary is intended to briefly outline certain embodiments of thesubject application. It should be understood that the subjectapplication is not limited to the embodiments disclosed in this Summary,and is intended to cover modifications that are within its spirit andscope, as defined by the claims. It should be further understood thatthis Summary should not be read or construed in a manner that will actto narrow the scope of the claims.

BRIEF DESCRIPTION OF THE DRAWINGS

The above-mentioned and other features and advantages of this invention,and the manner of attaining them, will become more apparent and theinvention itself will be better understood by reference to the followingdescription of embodiments of the invention taken in conjunction withthe accompanying drawings, wherein:

FIG. 1A is a perspective view of a surgical stapling instrumentcomprising a handle assembly, an elongate shaft extending from thehandle assembly, and an articulatable end effector extending from theelongate shaft;

FIG. 1B is an exploded view of the end effector of the surgicalinstrument of FIG. 1;

FIG. 2 is a perspective view of an articulation joint connecting an endeffector and an elongate shaft of a surgical instrument in accordancewith at least one embodiment of the present invention, the articulationjoint being illustrated with some components removed;

FIG. 3 is across-sectional view of the end effector of FIG. 2illustrating a solenoid positioned within the elongate shaft of thesurgical instrument, wherein the solenoid is configured to articulatethe end effector;

FIG. 4 is a partial perspective view of the end effector, articulationjoint, and elongate shaft of FIG. 2 illustrated with some componentsremoved;

FIG. 5 is a side cross-sectional view of an articulation jointconnecting an end effector and an elongate shaft of a surgicalinstrument in accordance with at least one embodiment of the presentinvention;

FIG. 6 is a bottom cross-sectional view of the surgical instrument ofFIG. 5 taken along line 6-6 in FIG. 5 illustrating a solenoid-drivenarticulation lock;

FIG. 7 is a cross-sectional view of an articulation joint connecting anend effector and an elongate shaft of a surgical instrument inaccordance with at least one embodiment of the present invention;

FIG. 8 is a detail view of the articulation joint of FIG. 7 illustratinga motor configured to articulate the end effector;

FIG. 9 is a cross-sectional view of an articulation joint connecting anend effector and an elongate shaft of a surgical instrument inaccordance with at least one embodiment of the present invention;

FIG. 10 is a partial perspective view of the end effector, thearticulation joint, and the elongate shaft of FIG. 9 illustrating amotor operably engaged with a worm gear configured to articulate the endeffector;

FIG. 11 is another partial perspective view of the end effector, thearticulation joint, and the elongate shaft of FIG. 9 illustrated withsome components removed;

FIG. 12 is a partial perspective view of an articulation jointconnecting an end effector and an elongate shaft of a surgicalinstrument in accordance with at least one embodiment of the presentinvention;

FIG. 13 is a cross-sectional view of the end effector, the articulationjoint, and the elongate shaft of FIG. 12 illustrating a motor driventube configured to articulate the end effector;

FIG. 14 is another partial perspective view of the end effector, thearticulation joint, and the elongate shaft of FIG. 12 with somecomponents removed and others illustrated in phantom lines;

FIG. 15 is an exploded view of the articulation joint of FIG. 12;

FIG. 16 is a perspective view of a surgical instrument having anarticulation knob for articulating an end effector of the surgicalinstrument and a rotation knob for rotating the end effector;

FIG. 17 is a side cross-sectional view of a handle portion of thesurgical instrument of FIG. 16;

FIG. 18 is a perspective cross-sectional view of the handle portion ofFIG. 17;

FIG. 19 is an exploded view of the handle portion of FIG. 17;

FIG. 20 is a perspective view of a surgical instrument in accordancewith at least one embodiment of the present invention comprising anarticulation switch and a rotation switch;

FIG. 21 is a cross-sectional view of a handle portion of the surgicalinstrument of FIG. 20;

FIG. 22 is a perspective view of an articulation joint connecting an endeffector and an elongate shaft of a surgical instrument in accordancewith at least one embodiment of the present invention illustrated withsome components removed;

FIG. 23 is a schematic illustrating electromagnets positioned within theelongate shaft of FIG. 22 configured to apply a magnetic force topermanent magnets mounted to the end effector of FIG. 22;

FIG. 24 is a cross-sectional view of the elongate shaft of FIG. 22;

FIG. 25 is a perspective view of an articulation joint connecting an endeffector and an elongate shaft of a surgical instrument in accordancewith at least one embodiment of the present invention with somecomponents removed;

FIG. 26 is a cross-sectional view of the end effector of FIG. 25illustrating a plurality of electromagnets;

FIG. 27 is a perspective view of an articulation joint connecting an endeffector and an elongate shaft of a surgical instrument in accordancewith at least one embodiment of the present invention illustrated withsome components removed;

FIG. 28 is a cross-sectional view of the articulation joint of FIG. 27illustrating a system of permanent magnets and electromagnets configuredto articulate the end effector of the surgical instrument and anothersystem of permanent magnets and electromagnets configured to lock theend effector in position relative to the elongate shaft of the surgicalinstrument;

FIG. 29 is a disassembled view of the articulation joint of FIG. 27illustrated with some components removed;

FIG. 30 is an exploded view of the articulation joint of FIG. 27;

FIG. 31 is a cross-sectional view of the articulation joint of FIG. 27illustrating the system of permanent magnets and electromagnets forarticulating the end effector of the surgical instrument;

FIG. 32 is a cross-sectional view of the articulation joint of FIG. 27illustrating the system of permanent magnets and electromagnets forlocking the end effector in position;

FIG. 33 is a perspective view of a surgical instrument comprising ahandle assembly, an elongate shaft, and an end effector articulatablerelative to the elongate shaft in accordance with at least oneembodiment of the present invention;

FIG. 34 is a cross-sectional view of an articulation joint connectingthe elongate shaft and the end effector of FIG. 33, wherein thearticulation joint comprises a plurality of discs;

FIG. 35 is a cross-sectional view of the articulation joint of FIG. 34illustrating the articulation joint in an articulated configuration;

FIG. 36 is a cross-sectional perspective view of a disc of thearticulation joint of FIG. 34 illustrating electromagnets positionedwithin a first set of apertures and wires extending through another setof apertures, the wires electrically coupling the electromagnets with apower source;

FIG. 37 is another cross-sectional perspective view of the disc of FIG.36;

FIG. 38 is an assembly view of the disc of FIG. 36 and a second discpositioned adjacent thereto, wherein the second disc comprises aplurality of permanent magnets positioned within a first set ofapertures and another set of apertures configured to permit the wires ofFIG. 36 to extend therethrough;

FIG. 39 is an exploded view of the disc of FIG. 36;

FIG. 40 is an electrical schematic of the permanent magnets andelectromagnets of the articulation joint of FIG. 34;

FIG. 41 is a partial perspective view of an articulation joint of asurgical instrument in accordance with at least one alternativeembodiment of the present invention illustrated with some componentsremoved and others shown in cross-section;

FIG. 42 is a cross-sectional view of the articulation joint of FIG. 41illustrating alternating first and second discs of the articulationjoint;

FIG. 43 is a cross-sectional view of the articulation joint of FIG. 41illustrated in an articulated configuration;

FIG. 44 is an end view of the articulation joint of FIG. 41;

FIG. 45 is another cross-sectional view of the articulation joint ofFIG. 41 illustrating the expanded and contracted configurations ofelectromagnet wires positioned within the discs of the articulationjoint;

FIG. 46 is a cross-sectional view of an end effector of a surgicalinstrument in accordance with at least one embodiment of the presentinvention illustrating a plurality of permanent magnets positionedwithin an anvil of the end effector;

FIG. 47 is an elevational view of the anvil of FIG. 46;

FIG. 48 is an elevational view of a cutting member of the end effectorof FIG. 46 comprising a plurality of electromagnets configured tocooperate with permanent magnets positioned in the end effector of thesurgical instrument and advance and/or retract the cutting member withinthe end effector;

FIG. 49 is a perspective view of the cutting member of FIG. 48;

FIG. 50 is another cross-sectional view of the end effector of FIG. 46;

FIGS. 51A-51C illustrate distal, middle, and proximal portions of anelongate shaft of a surgical instrument and a movable firing barpositioned within the elongate shaft in accordance with at least oneembodiment of the present invention;

FIG. 51A is a cross-sectional view of the distal portion of the elongateshaft and the movable firing bar illustrating an array of electromagnetspositioned within the elongate shaft;

FIG. 51B is a cross-sectional view of the middle portion of the elongateshaft and the movable firing bar of FIG. 51A illustrating permanentmagnets mounted to the firing bar and electromagnets positioned withinthe shaft;

FIG. 51C is a cross-sectional view of the proximal portion of theelongate shaft and the movable firing bar of FIG. 51A;

FIG. 52 is a cross-sectional view of the elongate shaft and the movablefiring bar of FIGS. 51A-C;

FIG. 53 is another cross-sectional view of the distal portion of theelongate shaft and the movable firing bar of FIG. 51A illustrating thefiring bar in a fired position;

FIG. 54 is a cross-sectional view of an elongate shaft of a surgicalinstrument according to at least one embodiment of the present inventionillustrating a firing bar in an unfired position; and

FIG. 55 is a cross-sectional view of the surgical instrument of FIG. 54illustrating the firing bar moved into a fired position by anelectromagnetic coil.

Corresponding reference characters indicate corresponding partsthroughout the several views. The exemplifications set out hereinillustrate preferred embodiments of the invention, in one form, and suchexemplifications are not to be construed as limiting the scope of theinvention in any manner.

DETAILED DESCRIPTION

Certain exemplary embodiments will now be described to provide anoverall understanding of the principles of the structure, function,manufacture, and use of the devices and methods disclosed herein. One ormore examples of these embodiments are illustrated in the accompanyingdrawings. Those of ordinary skill in the art will understand that thedevices and methods specifically described herein and illustrated in theaccompanying drawings are non-limiting exemplary embodiments and thatthe scope of the various embodiments of the present invention is definedsolely by the claims. The features illustrated or described inconnection with one exemplary embodiment may be combined with thefeatures of other embodiments. Such modifications and variations areintended to be included within the scope of the present invention.

The disclosures of the following commonly-owned, contemporaneously-filedUnited States patent applications are incorporated herein by referencein their entirety:

(1) U.S. patent application Ser. No. ______, entitled SURGICAL STAPLINGINSTRUMENT, Attorney Docket No. END6570USNP/090046; and

(2) U.S. patent application Ser. No. ______, entitled SURGICAL STAPLINGINSTRUMENT COMPRISING A MAGNETIC ELEMENT DRIVER, Attorney Docket No.END6569USNP/090045.

In various embodiments, referring to FIGS. 1A and 1B, a surgicalinstrument, such as surgical instrument 100, for example, can comprise ahandle assembly 102, an elongate shaft 104 extending from handleassembly 102, and an end effector 106 which can be moved, orarticulated, relative to elongate shaft 104 as described in greaterdetail further below. In at least one embodiment, handle assembly 102can comprise a closure trigger 108 which can be configured to open andclose end effector 106. More particularly, end effector 106 can compriseanvil 114 and, in addition, elongate shaft 104 can comprise closure tube112 wherein the actuation of closure trigger 108 can displace closuretube 112 longitudinally in order to rotate anvil 114 between opened andclosed positions relative to staple cartridge channel 113 and staplecartridge 115. In at least one embodiment, closure tube 112 can beconfigured to slide relative to a stationary portion of elongate shaft104, such as spine 116 (FIG. 1B), for example. In certain embodiments,end effector 106 can further comprise a tube portion, such as distaltube portion 118, for example, which can be displaced by closure tube112 in order open and/or close anvil 114. In at least one embodiment,surgical instrument 100 can further comprise one or more pivot links 211(FIGS. 2 and 3) which can be configured to connect closure tube 112 todistal tube portion 118 and permit distal tube portion 118 to articulaterelative to closure tube 112 when end effector 106 articulates relativeto elongate shaft 104. In any event, once anvil 114 has been closed,firing trigger 110 of handle assembly 112 can be actuated to move acutting and/or stapling member through end effector 106 in order toincise and/or staple tissue captured within end effector 106. After thetissue has been sufficiently incised and/or stapled, closure trigger 108can be released in order to move closure tube 112 in an oppositelongitudinal direction and open anvil 114. Other surgical instrumentsare disclosed in U.S. Pat. No. 7,441,685, entitled SURGICAL STAPLINGINSTRUMENT WITH A RETURN MECHANISM, which issued on Oct. 28, 2008, theentire disclosure of which is hereby incorporated by reference herein.Further surgical instruments are disclosed in U.S. patent applicationSer. No. 12/008,303, entitled SURGICAL STAPLING INSTRUMENT WITH A GEAREDRETURN MECHANISM, which was filed on Jan. 10, 2008, and U.S. patentapplication Ser. No. 12/008,266, entitled SURGICAL STAPLING INSTRUMENTWITH A FIRING MEMBER RETURN MECHANISM, which was filed on Jan. 10, 2008,the entire disclosures of which are hereby incorporated by referenceherein.

In various embodiments, referring once again to FIGS. 1A and 1B, asurgical instrument can further comprise an articulation joint, such asarticulation joint 120, for example, which can be configured to permitend effector 106 to move relative to elongate shaft 104. In at least oneembodiment, end effector 106 can further comprise a pivot plate 122which can be retained within staple cartridge channel 113 by channel pin124. As illustrated in FIG. 1B, channel pin 124 can be inserted,press-fit, and/or snap-fit into and/or through apertures 111 incartridge channel 113 and aperture 121 in pivot plate 122 in order tosecure pivot plate 122 to cartridge channel 113. In certain embodiments,pivot plate 122 can be immovably retained within staple cartridgechannel 113. Further to the above, elongate shaft 104 can furthercomprise pin insert plate 126 which can be secured in position by spine116 wherein, in at least one embodiment, pin insert plate 126 can beimmovably retained within elongate shaft 104. Referring primarily toFIG. 1B, pivot plate 122 can further comprise pin aperture 123 which canbe configured to receive articulation pin 127 extending from pin insertplate 126. In various embodiments, pin 127 and pin aperture 123 can besized and configured to define an axis, such as axis 128, for example,about which staple cartridge channel 113 and pivot plate 122 can rotaterelative to pin insert plate 126. As a result of the above, end effector106 can be articulated relative to elongate shaft 104 in order tosuitably position end effector 106 within a surgical site, for example.Once suitably positioned, end effector 106 can be locked in positionrelative to shaft 104. In certain embodiments, elongate shaft 104 canfurther comprise a lock or brake, such as lock 130, for example, whichcan be configured to selectively engage pivot plate 122, for example,and hold it in position relative to pin insert plate 126. In at leastone such embodiment, pivot plate 122 can include one or more teeth 125which can be captured within, or meshed with, one or more grooves 131 inthe distal end of lock 130 such that relative movement between teeth 125and grooves 131 is prevented, or at least limited.

In use, lock 130 can be disengaged from pivot plate 122 such that endeffector 106 can be rotated relative to elongate shaft 104. Once lock130 has been disengaged from pivot plate 122, in at least one suchembodiment, end effector 106 can be placed against a cavity wall withina surgical site, such as the peritoneal cavity wall, for example, and alongitudinal force can be applied to shaft 104 via handle assembly 102in order to rotate end effector 106 relative to elongate shaft 104. Incertain circumstances, such articulation can be referred to as passivearticulation. In any event, once end effector 106 has been suitablyarticulated, lock 130 can be re-engaged with pivot plate 122 and closuretube 112 can be advanced longitudinally by trigger 108 in order to closeanvil 114 as described above. The reader will note that, when endeffector 106 is moved between a straight position, i.e., a position inwhich it is aligned or at least substantially aligned with elongateshaft 104, and an articulated position, distal tube portion 118 can bemoved between a first angle with respect to closure tube 112 and asecond, or different, angle with respect to closure tube 112. In orderto accommodate such relative movement, referring to FIGS. 2 and 3, pivotlinks 211 can be pivotably connected to distal tube portion 118 andclosure tube 112 via pin projections 109 extending from pivot links 211and via apertures 107 within tube portion 118 and closure tube 112. Pinprojections 109 and pin apertures 107 can be configured such that pivotlinks 211 can provide at least one degree of freedom between distal tubeportion 118 and closure tube 112. In such embodiments, pivot links 211can permit distal tube 118 to articulate relative to closure tube 112even though at least a portion of closure tube 112 has been advanceddistally past articulation joint 120. In any event, once anvil 114 hasbeen suitably closed, trigger 110 can be actuated to advance a firingbar distally into end effector 106. Although a firing bar is notillustrated in FIGS. 1A and 1B, surgical instrument 200, referring toFIGS. 2-4, includes a suitable firing bar 250 and cutting member 252which can be configured to be advanced into and/or within end effector106. In at least one embodiment, the elongate shaft and/or end effectorof surgical instrument 100, for example, can include one or more slotsconfigured for receiving and/or guiding firing bar 250 and/or cuttingmember 252 when they are advanced and/or retracted within the shaftand/or end effector of surgical instrument 100.

In various embodiments, referring to FIGS. 2-4, a surgical instrument,such as surgical instrument 200, for example, can include an elongateshaft 204 and an end effector 206, wherein end effector 206 can beconfigured to articulate relative to elongate shaft 204 aboutarticulation joint 220. Similar to surgical instrument 100, end effector206 can comprise a pivot plate 222 retained within a staple cartridgechannel 213, wherein pivot plate 222 can comprise a pin aperture 223configured to receive articulation pin 227 extending from pin insertplate 226. In various embodiments, referring primarily to FIG. 4,elongate shaft 204 can further comprise one or more actuators which canbe configured to rotate, or pivot, end effector 206 relative to shaft204. In at least one such embodiment, elongate shaft 204 can furthercomprise first solenoid 240 and second solenoid 242 mounted thereinwhich can be operably engaged with pivot plate 222 such that theactuation of first solenoid 240 and/or second solenoid 242 can rotatepivot plate 222 about an axis, for example. In certain embodiments,first solenoid 240 can comprise a piston and/or rod 241 sufficientlymounted to pivot plate 222 such that pivot plate 222 can be pusheddistally and/or pulled proximally by first solenoid 240 in order torotate end effector 206 in clockwise (CW) and/or counter-clockwise (CCW)directions. In certain circumstances, such articulation can be referredto as active articulation.

In various embodiments, further to the above, rod 241 can be advanceddistally in a direction indicated by arrow “D” in order to rotate endeffector 206 in a clockwise direction indicated by arrow “CW”. In orderto rotate end effector 206 in a counter-clockwise direction indicated byarrow “CCW”, rod 241 can be retracted proximally in a directionindicated by arrow “P”. In certain embodiments, rod 241 can include adistal end 245 which can be positioned within an aperture 246 in pivotplate 222 such that rod 241 can pivot relative pivot plate 222. In atleast one embodiment, rod 241 can be suitably flexible to accommodaterelative movement between pivot plate 222 and solenoid 240. In certainembodiments, solenoid 240 can be slidably and/or rotatably mountedwithin elongate shaft 204 such that rod 241 does not unsuitably bend orbind when it is extended or retracted to drive pivot plate 222 about anaxis. In any event, referring to FIG. 3, solenoid 240 can include coilsor windings 247 which can be energized by an electrical current and/orvoltage in order to create a sufficient magnetic field to move rod 241in a distal and/or proximal direction, depending on the direction inwhich the current is flowing through, and/or the polarity of the voltageapplied to, the windings. In at least one such embodiment, piston and/orrod 241 can comprise an iron core, for example, which can be configuredto interact with the magnetic field produced by the solenoid windings247.

In certain embodiments, further to the above, elongate shaft 204 caninclude at least one additional solenoid, such as solenoid 242, forexample, which can be configured to rotate pivot plate 222contemporaneously with, and/or independently of, solenoid 240. In atleast one such embodiment, solenoid 242 can comprise a piston and/or rod243 which can be advanced distally and/or proximally in order to rotateend effector 206 in a clockwise and/or clockwise direction. Converselyto solenoid 240, rod 243 can be extended distally to rotate pivot plate222 in a counter-clockwise direction and/or retracted proximally torotate pivot plate 222 in a clockwise direction. Similar to solenoid240, rod 243 can include a distal end 245 which can be pivotably mountedwithin an aperture 246 in pivot plate 222. Also similar to solenoid 240,solenoid 242 can be rotatably and/or slidably mounted within elongateshaft 204 in order to add at least one degree of freedom to a system oflinkages comprising pivot plate 222, pin insert plate 226, solenoid 242,and rod 243 in order to permit articulation between end effector 206 andshaft 204.

As described above, an end effector of a surgical instrument can belocked into position once the end effector has been suitablyarticulated. In various embodiments, referring to FIGS. 5 and 6, asurgical instrument, such as surgical instrument 300, for example, caninclude an elongate shaft 304 and an end effector 306, wherein endeffector 306 can be configured to articulate relative to elongate shaft304 about articulation joint 320. Similar to surgical instrument 100,end effector 306 can comprise a pivot plate 322 retained within a staplecartridge channel 313, wherein pivot plate 322 can comprise a pinaperture 323 configured to receive articulation pin 327 extending from apin insert plate 326 retained within elongate shaft 304. In certainembodiments, elongate shaft 304 can further comprise a lock, or brake,and a lock actuator which can be configured to engage the lock withpivot plate 322 and, as a result, hold pivot plate 322 in positionrelative to elongate shaft 304. In at least one embodiment, elongateshaft 304 can comprise lock actuator 332 which can be configured to movelock 330 distally to engage lock 330 with plate 322 and/or move lock 330proximally to disengage lock 330 from plate 322. In at least one suchembodiment, lock actuator 332 can comprise a solenoid mounted withinelongate shaft 304 wherein the solenoid can comprise a piston and/or rod333 which can be extended distally and/or retracted proximally by coilsor windings 334. In certain embodiments, lock 330 can be mounted to rod333 such that the displacement of rod 333 can displace lock 330 towardand/or away from pivot plate 322. Similar to the above, lock 330 can bebiased into contact with pivot plate 322 such that groove 331 in thedistal end of lock 330 can engage, or mesh with, a projection, or tooth,325 extending from pivot plate 322. In at least one embodiment, lockactuator 332 can further comprise a biasing element, such as spring 335,for example, which can be configured to bias lock 330 into engagementwith pivot plate 322. In at least one such embodiment, the solenoid oflock actuator 332 can overcome the biasing force applied by spring 335in order to disengage lock 330 from pivot plate 322. In certainembodiments, spring 335 can be compressed between a flange 336 extendingfrom lock 330 and a stationary, or at least substantially stationary,flange 337 in elongate shaft 306 such that spring 335 can apply abiasing force to lock 330. In at least one embodiment, spring 335 cancomprise a linear spring wherein the force in which it applies can beproportional to the distance in which it is compressed.

In various embodiments, referring to FIGS. 7 and 8, a surgicalinstrument, such as surgical instrument 400, for example, can includeone or more motors configured to articulate an end effector of thesurgical instrument. In such embodiments, a motor can comprise aninduction motor, a brushless DC motor, a stepper motor, and/or asynchronous motor, for example. In certain embodiments, surgicalinstrument 400 can comprise an elongate shaft 404 and an end effector406, wherein end effector 406 can be configured to articulate relativeto elongate shaft 404 about articulation joint 420. Similar to surgicalinstrument 100, end effector 406 can comprise a pivot plate 422 retainedwithin a staple cartridge channel 413, wherein pivot plate 422 cancomprise a pin aperture 423 configured to receive articulation pin 427extending from a pin insert plate 426 retained within elongate shaft404. In at least one embodiment, elongate shaft 404 can further comprisea motor, such as motor 440, for example, mounted therein which can beoperably engaged with pivot plate 422 in order to rotate, or articulate,end effector 406 relative to shaft 404. More particularly, in at leastone such embodiment, motor 440 can be configured to rotate a gear, suchas spur gear 439, for example, which can be meshingly engaged with oneor more teeth, such as teeth 429, for example, on pivot plate 422 suchthat the rotation of spur gear 439 can be transmitted to pivot plate422. In at least one such embodiment, teeth 429 can be arranged in an atleast partially annular array around the perimeter of pivot plate 422.In various embodiments, elongate shaft 404 can further comprise a gearbox, such as gear box 441, for example, for reducing, and/or increasing,the gear ratio between an input shaft driven by motor 440 and an outputshaft which drives spur gear 439.

Similar to the above, a surgical instrument, such as surgical instrument500, for example, can include one or more motors configured toarticulate an end effector of the surgical instrument using a worm drivearrangement. In various embodiments, surgical instrument 500 cancomprise an elongate shaft 504 and an end effector 506, wherein endeffector 506 can be configured to articulate relative to elongate shaft504 about articulation joint 520. Similar to surgical instrument 400,end effector 506 can comprise a pivot plate 522 retained within a staplecartridge channel 513, wherein pivot plate 522 can comprise a pinaperture 523 configured to receive an articulation pin extending from apin insert plate 526 retained within elongate shaft 504. In at least oneembodiment, elongate shaft 504 can further comprise a motor, such asmotor 540, for example, mounted therein which can be operably engagedwith pivot plate 522 in order to rotate, or articulate, end effector 506relative to shaft 504. More particularly, in at least one suchembodiment, motor 540 can be configured to rotate a worm, such as worm539, for example, which can be meshingly engaged with a worm gear, orconcave worm wheel portion, 529 on pivot plate 522 such that therotation of worm 539 can be transmitted to pivot plate 522. A worm drivearrangement, such as the one described above, for example, can provide avery large gear ratio such that a gear box is not required to reduce thespeed of the motor, although a gear box can be used. In certainembodiments, a worm drive arrangement can be self-locking. Moreparticularly, the lead angle of the helical thread on worm 539 can besuch that end effector 506 and worm gear portion 529 cannot be rotatedin order to drive worm 539 and motor 540 in reverse. Stated another way,worm gear portion 529 and worm 539 can be configured such that they arefriction-locked together if a rotational force is applied to endeffector 506. In certain embodiments, as a result, the articulation ofend effector 506 relative to elongate shaft 504 can only be controlledby the selective rotation of worm 539 by motor 540 in clockwise andcounter-clockwise directions in order to rotate end effector 506 in leftand right directions, for example, about articulation joint 520. In atleast one such embodiment, a separate articulation lock, such as thosedescribed above, for example, may not be required, although they can beused.

In various embodiments, at least a portion of an elongate shaft of asurgical instrument, such as surgical instrument 600, for example, cancomprise a motor configured to articulate an end effector of a surgicalinstrument. In various embodiments, referring to FIGS. 12-15, surgicalinstrument 600 can comprise an elongate shaft 604 and an end effector606, wherein end effector 606 can be configured to articulate relativeto elongate shaft 604 about articulation joint 620. In variousembodiments, end effector 606 can further comprise a pivot member 622mounted therein wherein, in at least some embodiments, pivot member 622can be immovably mounted within end effector 606. In addition, elongateshaft 604 can comprise one or more motors, such as motor 640, forexample, which can be configured to rotate pivot member 622 about anaxis defined by pivot pins 627 a and 627 b. In at least one embodiment,motor 640 can comprise a spine portion 616 mounted within elongate shaft604 and, in addition, a pivot pin member 626 mounted to spine portion616, wherein spine portion 616 and pivot pin member 626 can be immovablymounted within elongate shaft 604. Referring to FIG. 15, pivot pinmember 626 can comprise upper and lower tines 626 a, 626 b extendingtherefrom, wherein pivot pins 627 a and 627 b can extend from tines 626a and 626 b, respectively, and can be mounted within apertures 627 cwithin tines 626 a and 626 b in any suitable manner such as by apress-fit relationship and/or an adhesive, for example. In variousembodiments, pivot member 622 can include one or more apertures, such asaperture 623, for example, configured to closely receive pivot pins 627a and 627 b such that pivot member 622 and end effector 606 can berotated or articulated about an axis as described above.

In various embodiments, further to the above, spine portion 616 and/orpivot pin member 626 can include one or more apertures or recesses, suchas apertures 651, for example, which can be configured to receive one ormore electromagnets, such as electromagnets 647, for example, mountedtherein. Although not illustrated, surgical instrument 600 can furthercomprise one or more conductors, such as insulated wires, for example,which can be configured to conduct an electrical current through thewires when a current source and/or voltage source, such as a battery,for example, is operably coupled with the conductors. In at least onesuch embodiment, the conductors can extend from a handle assembly of thesurgical instrument, such as handle assembly 102, for example, to thedistal end of elongate shaft 606, wherein the conductors can be wrappedor coiled around ferromagnetic cores, which can be comprised of ironand/or cobalt, for example, to comprise electromagnets 647 a and 647 b.In use, in at least one embodiment, a surgical instrument can furtherinclude a switch, or actuator, which can be operated to selectivelycouple the current source and/or voltage source to the conductors. Incertain embodiments, when electrical current is not flowing through theconductors, electromagnets 647 a, 647 b may not generate a magneticfield and, when sufficient electrical current is flowing through theconductors, the electrical current can generate one or more magneticfields which can be utilized to rotate driver 639. Referring primarilyto FIG. 15, driver 639 can include one or more magnetic elements mountedthereto which, when exposed to the magnetic field, or fields, created byelectromagnets 647, can interact with the magnetic field, or fields, andcause driver 639 to rotate. In at least one such embodiment, driver 639can comprise one or more apertures ore recesses, such as apertures 648,for example, which can be configured to receive one or more permanentmagnets 649 therein.

In various embodiments, further to the above, permanent magnets 649 cancomprise a magnetic polarity regardless of whether they are present in amagnetic field. In at least one embodiment, each permanent magnet 649can comprise a positive, or north, pole 649 n and a negative, or south,pole 649 s, wherein poles 649 n and 649 s can be arranged such that,when the magnetic field, or fields, produced by the electromagnets 647 aand 647 b are selectively produced, such magnetic fields can interactwith magnetic fields produced by permanent magnets 649 and, as a result,rotate driver 639. In various embodiments, driver 639 can be closelyreceived and rotatably supported within aperture 654 in spine 616 suchthat driver 639 can be rotated about an axis when permanent magnets 649are displaced within the magnetic field produced by electromagnets 647a, 647 b. As outlined above, electromagnets 647 a and 647 b can beselectively energized to create a magnetic field which, owing to thepolarity of permanent magnets 649, causes permanent magnets 649 to bedisplaced within the magnetic field(s). In various embodiments,electromagnets 647 a and 647 b can be energized such that electromagnets647 a have a different polarity than the polarity of electromagnets 647b. In at least one embodiment, electromagnets 647 a and 647 b can beenergized such that they have opposite polarities, or different positive(north) and negative (south) poles, and such that the poles ofelectromagnets 647 a and 647 b are arranged in an alternating fashion.In various embodiments, the direction of current flowing through theconductors wrapped around the cores of electromagnets 647 a, 647 b candetermine the polarity of the magnetic field(s) generated by theelectromagnets. In use, the direction of the current flowing through theconductors as described above can be repeatedly switched, or alternated,such that the polarities of one or more of the electromagnets 647 a and647 b can be repeatedly switched, or alternated, in order to attractand/or repel permanent magnets 649 in a manner such that driver 639 canbe continuously rotated in clockwise and/or counter-clockwisedirections, for example.

As described above, the operation of permanent magnets 647 a, 647 b canrotate driver 639 in a clockwise and/or counter-clockwise direction. Invarious embodiments, driver 639 can further comprise one or more gearportions, or drive teeth, which can be configured to engage or mate witha corresponding gear portion, or drive teeth, on pivot member 622. Moreparticularly, in at least one embodiment, driver 639 can include a firstgear portion 639 a extending therefrom which can be configured to engagea first gear portion 629 a extending from pivot member 622 such that,when driver 639 is rotated as described above, first gear portion 639 acan drive first gear portion 629 a to pivot or articulate pivot member622 and, correspondingly, end effector 606 about pivot pins 627 a and627 b. In at lest one such embodiment, referring primarily to FIG. 14,driver 639 can be rotated in a first direction indicated by arrow D1 inorder to rotate end effector 606 in a clockwise direction indicated byarrow CW and, in addition, driver 639 can be rotated in a seconddirection indicated by arrow D2 in order to rotate end effector 606 in acounter-clockwise direction indicated by arrow CCW. In at least oneembodiment, as a result, driver 639 can be rotated about a first axisand end effector 606 can be rotated about a second axis, wherein thefirst axis and the second axis can be perpendicular, or at leastsubstantially perpendicular, to each other. In other embodiments, thefirst and second axes may be non-parallel, transverse, and/or skew toone another. In various embodiments, referring again to FIG. 14, driver639 can further include a second gear portion 639 b which can beoperably engaged with a second gear portion 629 b of pivot member 622via a transmission gear 653. In at least one such embodiment,transmission gear 653 can be rotatably mounted to pivot pin member 626by a pin, such as pin 655, for example, such that, when driver 639 isrotated in direction D1 as described above, second gear portion 639 bcan assist first gear portion 639 a in rotating pivot member 622 in aclockwise direction CW, for example.

As outlined above, a surgical instrument can include a handle assemblyfor operating the surgical instrument. In various embodiments, referringnow to FIGS. 16 and 17, a surgical instrument, such as surgicalinstrument 700, for example, can comprise a frame 701, a closure trigger108 pivotably mounted to frame 701, and, in addition, a firing trigger110 also pivotably mounted to frame 701. Similar to surgical instrument100, the operation of closure trigger 108, and the closure driveassociated therewith, can displace closure tube 712 longitudinally alongelongate shaft 704 in order to open and close anvil 114. In certainembodiments, referring primarily now to FIG. 17, the closure drive cancomprise a retaining collar 108 b slidably positioned within frame 701and, in addition, a closure link 108 a pivotably mounted to retainingcollar 108 b and trigger 108. In at least one such embodiment, at leasta portion of closure tube 712 can be retained within retaining collar108 b such that the rotation of closure trigger 108 toward pistol grip103 can displace closure link 108 a, retaining collar 108 b, and closuretube 712 distally, i.e., in a direction indicated by arrow D.

In addition to the closure drive described above, handle assembly 702can further comprise an articulation system configured to rotate adriver, such as driver 739, for example, in order to articulate endeffector 706 relative to elongate shaft 704. In at least one suchembodiment, handle assembly 702 can further comprise articulation knob760 which can be moved between locked and unlocked positions wherein, incertain embodiments, referring primarily to FIG. 17, articulation knob760 can be slid between a first, or distal, position in which it islocked to rotation knob 770 and a second, or proximal, position in whichit is unlocked from rotation knob 770. Referring primarily to FIG. 19,articulation knob 760 can comprise one or more locking teeth, orprojections, 761 which can be configured to be engaged with one or morelocking teeth, or projections, 771 on rotation knob 770 such thatarticulation knob 760 cannot be rotated relative to rotation knob 770when articulation knob 760 is positioned in its locked, or distal,position. In at least one such embodiment, as a result, articulationknob 760 cannot be utilized to rotate driver 739 and articulate endeffector 706 when articulation knob 760 is in its locked position.

Further to the above, when articulation knob 760 is moved into itsunlocked, or proximal, position, locking teeth 761 can be sufficientlydisengaged from locking teeth 771 such that articulation knob 760 can berotated relative to rotation knob 770. In at least one such embodiment,referring again to FIG. 16, articulation knob 760 can be rotated in afirst direction indicated by arrow D1 in order to rotate end effector706 in a clockwise direction indicated by arrow CW and, correspondingly,articulation knob 760 can be rotated in a second direction indicated byarrow D2 in order to rotate end effector 706 in a counter-clockwisedirection indicated by arrow CCW, for example. Referring primarily toFIG. 18, articulation knob 760 can be operably engaged with spline ring763 such that, when articulation knob 760 is rotated, spline ring 763can be rotated by articulation knob 760. In at least one suchembodiment, referring to FIG. 18, spline ring 763 can include one ormore splines 764 which can be configured to permit articulation knob 760to be slid between its locked and unlocked positions, yet transmitrotational motion to spline ring 763. In various embodiments, referringnow to FIG. 19, spline ring 763 can comprise two or more portions whichcan be assembled together such that spline ring 763 encompasses at leasta portion of closure tube 712. In at least one such embodiment, closuretube 712 can include an aperture, or window, 765 which can be configuredto permit at least a portion of spline ring 763 to extend throughclosure tube 712 and operably engage driver 739. More particularly,spline ring 763 can further comprise one or more projections, or keys,766 extending therefrom which can be received within one or moreapertures 767 in driver 739 such that, when spline ring 763 is rotatedby articulation knob 760, spline ring 763 can rotate driver 739. Invarious embodiments, as a result, articulation knob 760 and driver 739can be rotated relative to closure tube 712 and spine member 716 whenarticulation knob 760 is in its unlocked position.

In use, as outlined above, articulation knob 760 can be pulledproximally to disengage locking teeth 761 from locking teeth 771 ofrotation knob 770. In various embodiments, referring generally to FIG.16, articulation knob 760 can further comprise lip 769 extendingtherefrom wherein, in at least one embodiment, lip 769 can be configuredto allow a surgeon to grasp lip 769 with one or more fingers and pullarticulation knob 760 proximally. In such circumstances, referring toFIG. 17, articulation knob 760 can compress a biasing member, such asspring 768, for example, positioned intermediate articulation knob 760and rotation knob 770. In certain embodiments, articulation knob 760,driver 739, and end effector 706 can be configured such that, whenarticulation knob 760 is rotated substantially 10 degrees in directionD1, for example, end effector 706 can be rotated substantially 10degrees in direction CW. Such embodiments can be referred to as having a1:1 gear ratio, although other embodiments are envisioned which can havea smaller gear ratio or a larger gear ratio. In any event, once endeffector 706 has been satisfactorily articulated, the surgeon canrelease articulation knob 760 such that spring 768 can move articulationknob 760 from its unlocked position into its locked position once again.Referring to FIG. 19, lock teeth 761 and/or lock teeth 771 can eachcomprise an array of teeth which can be configured such that at leastsome of lock teeth 761 and 771 can intermesh, or be interlocked,regardless of the degree in which articulation knob 760 is rotatedrelative to rotation knob 770. In the illustrated embodiment, teeth 761and teeth 771 are each arranged in an annular, or at least substantiallyannular, and a concentric, or at least substantially concentric, array.

In various embodiments, further to the above, rotation knob 770 can beconfigured to rotate end effector 706 about a longitudinal axis, such aslongitudinal axis 799, for example. In at least one such embodiment,referring primarily to FIG. 17, rotation knob 770 can be moved between alocked, distal, position in which it is locked to frame 701 and anunlocked, proximal, position in which it is unlocked from frame 701. Invarious embodiments, referring to FIG. 17 once again, rotation knob 770can further comprise lip 779 extending therefrom wherein, in at leastone embodiment, lip 779 can be configured to allow a surgeon to grasplip 779 with one or more fingers and pull rotation knob 770 proximally.Similar to the above, referring primarily to FIG. 19, rotation knob 770can comprise one or more locking teeth, or projections, 772 which can beconfigured to be engaged with one or more locking teeth 773, orprojections, on frame 701 such that rotation knob 770 cannot be rotatedrelative to frame 701 when rotation knob 770 is positioned in itslocked, or distal, position. When rotation knob 770 is unlocked fromframe 701, however, rotation knob 770 can be rotated relative to frame701 in order to rotate end effector 706 about longitudinal axis 799.More particularly, in at least one embodiment, rotation knob 770 canfurther include one or more driver portions, such as flat driverportions 774, for example, which can be configured to transmit therotation of rotation knob 770 to spine portion 716 via correspondingflat portions 775 on spine portion 716. In at least one such embodiment,referring primarily to FIG. 19, flat driver portions 774 can beconfigured to extend through window 765 in closure tube 712 and, inaddition, window 776 in driver 739 such that flat driver portions 774can directly engage flat portions 775 on spine 716.

In addition to the above, referring to FIG. 17, rotation knob 770 can beconfigured such that, when it is pulled proximally into its unlockedposition as described above, locking teeth 771 can transmit the rotationof rotation knob 770 to articulation knob 760 via locking teeth 761. Inat least one such embodiment, as a result, articulation knob 760 canturn synchronously with rotation knob 770 such that spine member 716 canturn synchronously with driver 739 when rotation knob 770 is in itsunlocked position. In at least one embodiment, owing to the synchronousrotation of spine member 716 and driver 739, end effector 706 may notarticulate relative to elongate shaft 704 when rotation knob 770 isrotated relative to handle frame 701. Stated another way, as rotationknob 770 is not being rotated relative to articulation knob 760 anddriver 739 is not being rotated relative to spine 716, driver 739 maynot be able to articulate end effector 706 relative to shaft 704. In anyevent, once end effector 706 has been properly rotated about axis 799,rotation knob 770 can be released in order to re-engage locking teeth772 of rotation knob 770 with locking teeth 773 of handle frame 701. Inat least one embodiment, referring to FIGS. 17-19, handle assembly 702can further comprise a biasing member, such as spring 778, for example,positioned intermediate rotation knob 770 and frame 701, wherein spring778 can be compressed between rotation knob 770 and frame 701 whenrotation knob 770 is moved from its locked, distal, position into itsunlocked, proximal, position and, when rotation knob 770 is released, asdescribed above, spring 778 can bias rotation knob 770 away from frame701 such that lock teeth 772 are re-engaged with lock teeth 773.Referring again to FIG. 19, lock teeth 772 and/or lock teeth 773 caneach comprise an array of teeth which can be configured such that atleast some of lock teeth 772 and 773 can intermesh, or be interlocked,regardless of the degree in which rotation knob 770 is rotated relativeto frame 701. In the illustrated embodiment, lock teeth 772 and lockteeth 773 are each arranged in an annular, or at least substantiallyannular, and a concentric, or at least substantially concentric, array.

In various embodiments, further to the above, a surgeon can hold handleassembly 702 in one hand, such as their right hand, for example, andoperate surgical instrument 700. In at least one embodiment, as outlinedabove, the surgeon can retract triggers 108 and 110 toward pistol grip103 by positioning their thumb, for example, on the proximal side ofpistol grip 103 and positioning one or more fingers of the same hand onthe distal side of triggers 108 and 110 in order to apply a forcethereto and pull them toward pistol grip 103. As also outlined above, asurgeon can extend one or more of their fingers of the same handdistally in order to grasp lip 769 of articulation knob 760 and/or lip779 of rotation knob 770 and pull them proximally. Stated another way, asurgeon can open and close anvil 114 via closure trigger 108, incise andstaple tissue via firing trigger 110, articulate end effector 706relative to elongate shaft 704 about articulation joint 720, and, inaddition, rotate end effector 706 about longitudinal axis 799 all withone hand. As a result, the surgeon can have their other hand availableto perform other tasks during a surgery. In various circumstances,however, the operation of knobs 760 and 770 and triggers 108 and 110 mayrequire a surgeon to use two hands to operate the surgical instrument,especially if the surgeon's hands are too small or are otherwise unableto perform the tasks set forth above, thereby defeating one or morepossible advantages. In various alternative embodiments, referring nowto FIGS. 20 and 21, a surgical instrument, such as surgical instrument800, for example, may include a system of magnetic elements forarticulating end effector 706 relative to elongate shaft 704 and, inaddition, a system of magnetic elements for rotating end effector 706about longitudinal axis 799. In various embodiments, surgical instrument800 can further comprise additional systems of magnetic elements formoving articulation knob 760 and rotation knob 770 between their lockedand unlocked positions. In any event, surgical instrument 800 can besimilar to surgical instrument 700 in many respects although variousdifferences are discussed in greater detail further below.

Similar to articulation knob 760 of surgical instrument 700, referringnow to FIG. 20, articulation knob 860 of surgical instrument 800 can bemoved between a locked, distal, position and an unlocked, proximal,position. Also similar to articulation knob 760, referring to FIG. 21,articulation knob 860 can include lock teeth 761 which can be engagedand disengaged from lock teeth 762 on rotation knob 870 whenarticulation knob 860 is moved between its locked and unlockedpositions, respectively. In various embodiments, articulation knob 860can be pulled back, or proximally, by a system of electromagnets 881 andmagnetic elements 882, for example. In at least one embodiment,referring again to FIG. 21, electromagnets 881 can be mounted torotation knob 870 in a circular, or at least substantially circulararray, which can be concentric, or at least substantially concentric,with a circular, or at least substantially circular, array of magneticelements 882 mounted to articulation knob 860. In various embodiments, asurgeon can operate a switch on handle assembly 802, for example, inorder to place a current source and/or voltage source in communicationwith electromagnets 881 such that electromagnets 881 can be sufficientlyenergized, or polarized, in order to attract magnetic elements 882toward electromagnets 881 and, correspondingly, move articulation knob860 proximally. In at least one such embodiment, electromagnets 881 canapply a sufficient magnetomotive force (mmf) to magnetic elements 882 inorder to sufficiently displace articulation knob 860 and disengage lockteeth 761 from lock teeth 762 such that articulation knob 860 can berotated relative to rotation knob 870, as described in greater detailfurther below. In various embodiments, similar to the above, a biasingmember, such as spring 768, for example, can be positioned intermediatearticulation knob 860 and rotation knob 870 such that spring 768 iscompressed when articulation knob 860 is moved into, and held in, itsproximal, unlocked position by electromagnets 881. After electromagnets881 have been sufficiently de-energized, or de-polarized, spring 768 canbe configured to bias articulation knob 860 back into its locked, distalposition. In various embodiments, further to the above, magneticelements 882 can be comprised of iron, and/or any suitable ferromagneticmaterial, for example, which can interact with a magnetic field. In atleast some embodiments, magnetic elements 882 can comprise permanentmagnets, such as neodymium magnets, samarium-cobalt magnets, and/or anysuitable rare earth magnets, for example. In at least one suchembodiment, magnetic elements 882 can be arranged and configured toattract, or repel, at least a portion of electromagnets 881 such thatthe mmf applied to electromagnets 881 can preload spring 768 and/orprovide a resistive force to the proximal movement of articulation knob860.

Once articulation knob 860 has been sufficiently unlocked, as describedabove, articulation knob 860 can be rotated relative to rotation knob870 in order to articulate end effector 706 relative to elongate shaft704. In various embodiments, articulation knob 860 can include one ormore magnetic elements 849 which can be configured to interact with amagnetic field, or fields, produced by one or more electromagnets 847mounted to rotation knob 870. In at least one such embodiment, magneticelements 849 can be comprised of iron, and/or any other suitableferromagnetic material, for example, and can be embedded within and/orotherwise suitably mounted to articulation knob 860. In variousembodiments, electromagnets 847 can apply a magnetomotive force (mmf) tomagnetic elements 849 in order to displace magnetic elements 849, andarticulation knob 860, relative to electromagnets 847 and rotation knob870. In at least one embodiment, the polarity of electromagnets 847 canbe switched between first and second polarities in order to drivearticulation knob 860 in a first direction indicated by arrow D1 (FIG.20) and/or a second direction indicated by arrow D2. In use, referringto FIG. 20, a surgeon can actuate switch 869 to place a current sourceand/or voltage source in communication with electromagnets 847 such thatelectromagnets 847 can produce a magnetic field sufficient to displacearticulation knob 860 relative to rotation knob 870 in a desireddirection and, accordingly, articulate end effector 706 relative toelongate shaft 704 in the same manner, or an at least similar manner, asdescribed above in connection with surgical instrument 700, for example.

Similar to rotation knob 770 of surgical instrument 700, rotation knob870 of surgical instrument 800 can be moved between a distal position inwhich it is locked to frame 801 and a proximal position in which it isunlocked from frame 801. In various embodiments, further to the above, asystem of electromagnets and magnetic elements, for example, can beutilized to move rotation knob 870 between its locked and unlockedpositions. In at least one such embodiment, referring to FIG. 21, frame801 can include a plurality or electromagnets 886 mounted thereto whichare arranged in a circular, or at least substantially circular, array,wherein electromagnets 886 can be configured to generate a magneticfield, or fields, configured to attract and/or repel magnetic elements887 mounted to rotation knob 870. Similar to the above, electromagnets886 can be sufficiently energized, or polarized, in order to pullmagnetic elements 887, and rotation knob 870, toward electromagnets 886in order to disengage lock teeth 772 from lock teeth on frame 701. Oncerotation knob 870 is in its unlocked position, rotation knob 870 can berotated relative to frame 801 by another system of electromagnets andmagnetic elements. In at least one such embodiment, referring again toFIG. 21, frame 801 can include a plurality of magnetic elements 880mounted thereto which can be configured to interact with a magneticfield, or fields, produced by electromagnets 847. Similar to the above,referring to FIG. 20, a surgeon can operate a switch 879 in order toselectively energize, or polarize, magnetic elements 847 in order toproduce a first magnetic field for rotating rotation knob 870 in a firstdirection and a second magnetic field for rotating rotation knob 870 ina second direction. In such embodiments, when rotation knob 870 isrotated, rotation knob 870 can rotate end effector 706 aboutlongitudinal axis 799 in the same manner, or an at least similar manner,as described above in connection with surgical instrument 700, forexample.

Although not illustrated, the reader will appreciate that theelectromagnets of surgical instrument 800 can be powered by a commonpower source, such as a battery, for example, and/or different powersources. Referring once again to FIG. 21, surgical instrument 800 mayfurther include one or more conductors, or wires, for placing the powersource, or sources, in communication with the electromagnets of surgicalinstrument 800. In various embodiments, handle assembly 802 can furthercomprise one or more conductors, or wires, 883 which can supply currentand/or apply voltage to electromagnets 847. In some embodiments,although not illustrated, conductors 883 can have sufficient flexibilityand/or slack in order to accommodate relative movement between rotationknob 870 and frame 801. In other embodiments, referring to FIG. 21,handle assembly 802 can comprise one or more brushes 888 positionedintermediate frame 801 and rotation knob 870 which can be configured toconduct current between a power source and electromagnets 847 regardlessof whether rotation knob 870 is moving relative to frame 801 and/orregardless of the degree of rotation between rotation knob 870 and frame801. In at least one such embodiment, brushes 888 can be positioned inan annular, or at least substantially annular, array around frame 801and rotation knob 870. In various embodiments, brushes 888 can comprisemetal fiber brushes, such as braided copper brushes, for example, carbonbrushes, and/or any other suitable brush. In at least one embodiment, a“brush” can comprise one or more blocks of material, such as a carbonblock, for example, which can be configured to conduct current andpermit relative sliding contact of an opposing “brush” across a facethereof. In certain embodiments, a “brush” can comprise any suitablecompliant member. In any event, brushes 888 can be sufficientlyresilient such that they can flex, or compress, when rotation knob 870is pulled distally and re-expand when rotation knob 870 is moved backinto its locked position.

In various embodiments, similar to the above, handle assembly 802 canfurther comprise one or more conductors, or wires, 884 which can supplycurrent and/or apply voltage to electromagnets 881. In some embodiments,although not illustrated, conductors 884 can have sufficient flexibilityand/or slack in order to accommodate relative movement between rotationknob 870 and frame 801. In other embodiments, similar to the above,handle assembly 802 can comprise one or more brushes 885 positionedintermediate rotation knob 870 and frame 801 which can be configured toconduct current between a power source and electromagnets 881 regardlessof whether rotation knob 860 is moving relative to frame 801 and/orregardless of the degree of rotation between rotation knob 870 and frame801. Similar to the above, brushes 885 comprise metal fiber brushes,such as braided copper brushes, for example, carbon brushes, and/or anyother suitable brush which can be sufficiently resilient such that theycan flex, or compress, when rotation knob 870 is pulled distally andre-expand when rotation knob 870 is moved back into its locked position.In addition to the above, brushes 885, and/or brushes 888, can permitrelative sliding movement between two halves of the brush. Moreparticularly, in at least one embodiment, a brush 885, for example, cancomprise a first half mounted to rotation knob 870 having bristlesextending therefrom, wherein the second half of brush 885 can comprise acontact plate, or plates, mounted to frame 801 against which thebristles can contact and slide thereover. In other various embodiments,a brush 885, for example, can comprise first and second halves eachhaving bristles extending therefrom, wherein the first and second halvescan be mounted to rotation knob 870 and frame 801 and can contact andslide over one another. In any event, brushes 885 can be positioned inan annular, or at least substantially annular, array around frame 801and rotation knob 870. In various embodiments, referring once again toFIG. 21, handle assembly 802 can include one or more conductors, orwires, 889 which can supply current and/or apply voltage toelectromagnets 886.

In various embodiments, a surgical instrument can include one or moreelectromagnets positioned within an elongate shaft, wherein theelectromagnets can be configured to articulate an end effector of thesurgical instrument relative to the elongate shaft. In at least oneembodiment, referring to FIGS. 22-24, surgical instrument 900 cancomprise an elongate shaft 904 and an end effector 906 (shown withportions removed), wherein end effector 906 can be pivotably connectedto elongate shaft 904 by articulation joint 920. Similar to the above,end effector 906 can comprise a pivot plate 922 and, in addition,elongate shaft 904 can comprise a pin insert plate 926 which can besecured within elongate shaft 904 by spine 916. Also similar to theabove, pin insert plate 926 can include a pin extending therefrom whichcan be configured to be closely received within pin aperture 123 inpivot plate 922. In certain embodiments, referring primarily to FIG. 23,elongate shaft 904 can further comprise electromagnets 940 a and 940 bmounted therein and, in addition, pivot plate 922 can further comprisemagnetic elements 949 mounted thereto wherein electromagnets 940 a, 940b can be configured to generate a magnetic field, or fields, which canbe configured to interact with magnetic elements 949 and rotate pivotplate 922, and end effector 906, about an axis defined by pin insertplate 926. In various embodiments, magnetic elements 949 can comprisemagnets, such as rare earth magnets, for example, which can bepositioned and arranged on pivot plate 922 such that the poles of themagnets are aligned in a predetermined orientation. In at least oneembodiment, magnetic elements 949 can be arranged such that the poles ofeach magnet are arranged in an end-to-end configuration such that thepositive, or north, pole of each magnet is positioned next to thenegative, or south, pole of the adjacent magnet, for example. Otherembodiments are envisioned in which the positive poles of magnets 949are positioned radially outwardly with respect to their negative poles,for example.

In use, in at least one embodiment, electromagnet 940 b, for example,can be energized, or polarized, such that the distal end ofelectromagnet 940 b comprises a positive, or north, magnetic pole of amagnetic field. In such circumstances, the positive poles of magneticelements 949 can be repulsed away from electromagnet 940 b and thenegative poles of magnetic elements 949 can be attracted towardelectromagnet 940 b. In various embodiments, as a result, the magneticfield produced by electromagnet 940 b, for example, can be sufficient todisplace, or rotate, pivot plate 922, and end effector 906, in acounter-clockwise direction indicated by arrow CCW, for example. In atleast one such embodiment, referring to FIG. 23, the intensity of themagnetic field produced by electromagnet 940 b can be controlled bycontrolling the magnitude of current flowing through conductor 947 b,wherein a larger current can produce a more intense magnetic field and asmaller current can produce a less intense magnetic field. In certainembodiments, similar to the above, the direction in which current issupplied, or the polarity in which voltage is applied, to conductor 947b can control the polarity of the magnetic pole generated at the distalend of electromagnet 940 b. More particularly, if the current flowingthrough conductor 947 b is flowing in a first direction, the current cangenerate a positive pole at the distal end of core 941 b whereas, if thecurrent flowing through conductor 947 b flows in the opposite direction,the current can generate a negative pole at the distal end of core 941b. In various embodiments, as a result, the direction of the currentflowing through conductor 947 b can be selectively changed in order toselectively change the polarity of the magnetic field produced byelectromagnet 940 b, for example. In at least one such embodiment, theinitial polarity of the distal end of electromagnet 940 b can bepositive, for example, in order to repel a first magnet 949 wherein thepolarity of the distal end of electromagnet 940 b can then be changedfrom positive to negative so as to draw the next permanent magnet 949toward electromagnet 940 b in order to continue to rotate pivot plate922 and end effector 906. Once the second permanent magnet 949 has beensufficiently positioned, the polarity of electromagnet 940 b can beswitched once again, i.e., from negative to positive, and repel thesecond electromagnet 949 away from electromagnet 940 b and, again,continue to rotate pivot plate 922 and end effector 906.

In various embodiments, it may be desirable to limit the range in whichend effector 906 can be rotated relative to elongate shaft 904. Incertain embodiments, although not illustrated, elongate shaft 904 caninclude one or more stops which can be configured to stop the rotationof end effector 906 when it is moved in a clockwise direction and/or acounter-clockwise direction. In at least one such embodiment, the stopscan limit the maximum rotation of end effector 906 in the clockwiseand/or counter-clockwise directions. In some embodiments, referring toFIG. 23, a surgical instrument can further comprise means for detectingthe position, or relative angle, between end effector 906 and elongateshaft 904 and, in addition, means for stopping the rotation of endeffector 906 once end effector 906 has been sufficiently displaced. Inat least one such embodiment, elongate shaft 904 can further include oneor more sensors which can be configured to detect one or more markingson end effector 906 in order to determine the amount, or degree, inwhich end effector 906 has been rotated relative to shaft 904. Moreparticularly, in at least one embodiment, elongate shaft 904 can furthercomprise at least one photosensor, such as photosensor 991, for example,which can be configured to detect encoder markings 990 as they passunder photosensor 991 when end effector 906 is rotated. In variousembodiments, photosensor 991 can further comprise a light emitter and,in addition, encoder markings 990 can comprise at least partiallyreflective surfaces on pivot plate 922 which can be configured toreflect light produced by the light emitter in order to facilitate thedetection of encoder markings 990. In certain embodiments, encodermarkings 990 can be etched into a surface on pivot plate 922. In atleast one embodiment, although not illustrated, end effector 906 cancomprise a plurality of slits, or apertures, arranged in a suitablearray similar to the arrangement of encoder markings 990, wherein theapertures can be configured to allow light to pass therethrough from alight source positioned on the opposite, or bottom, side of pivot plate922. In at least one such embodiment, the light source can comprise oneor more light emitting diodes. In certain other embodiments, althoughnot illustrated, an end effector and elongate shaft can comprise amechanical encoder which is indexed as the end effector is rotated.

In various embodiments, referring primarily to FIG. 23, photosensor 991,for example, can be placed in signal communication with a control unit,such as control unit 992, for example, such that data regarding thenumber of encoder markings 990 that pass under photosensor 991 can betransmitted to control unit 992. More particularly, in at least oneembodiment, control unit 992 can comprise at least one digital signalprocessor, such as DSP 993, for example, which can be configured toreceive signal pulses from photosensor 991 which correspond to thepassing of encoder markings 990 under photosensor 991. For example, iffive markings 990 pass under sensor 991, sensor 991 can transmit fivesignal pulses to DSP 993 via conductor 994, although such communicationcan be wireless via a wireless transmitter (not illustrated). In anyevent, DSP 993 can be configured to process such signal pulses,calculate the amount in which end effector 906 has rotated relative toend effector 904, and output such information to the surgeon. In atleast one embodiment, further to the above, the detection of one encodermarking 990 can represent one degree of articulation of end effector906, wherein DSP 993 can be configured to transmit the degree in whichend effector 906 has been rotated to an LCD display on the handleassembly of the surgical instrument. In various embodiments, the LCDdisplay can comprise a screen, wherein data can be displayed in the formof numerals, text, and/or a graphical form such as an increasing ordecreasing bar scale, for example. In various embodiments, further tothe above, control unit 992 can further include a pulse width modulator(PWM) which can be configured to modify and control the output signalsor power supplied to electromagnets 940 a and 940 b.

As described above, elongate shaft 904 can comprise two electromagnets,i.e., electromagnets 940 a and 940 b, which can be configured to emit amagnetic field, or fields, which can interact with magnetic elements949. As illustrated in FIG. 23, pivot plate 922 includes five magneticelements 949 embedded therein; however, other embodiments may have lessthan five magnetic elements 949 or more than five magnetic elements.Similarly, other surgical instruments can comprise any suitable numberof electromagnets. In at least one embodiment, referring now to FIG. 25,an elongate shaft 1004 of surgical instrument 1000 can comprise fourelectromagnets, i.e., electromagnets 1040 a, 1040 b, 1040 c, and 1040 dwhich can each be configured to independently generate a magnetic fieldand polarity at the distal ends of cores 1041 a-1041 d, respectively.Similar to the above, the strength and polarity of the magnetic fieldsproduced by electromagnets 1040 a-1040 d can be determined by thedirection and magnitude of the current flowing through conductors, orwires, 1041 a-1041 d, respectively. In any event, once end effector 906has been sufficiently articulated, similar to the above, end effector106 can be locked into position. In various embodiments, referring toFIG. 23, elongate shaft 904 can further comprise lock 930 which can bemoved between a proximal, unlocked position and a distal, lockedposition in which lock 930 is engaged with teeth 925 on pivot plate 922.In at least one embodiment, lock 930 can include a plurality of recesses931 which can be configured to receive one or more teeth 925 such thatpivot plate 922 cannot rotate, or at least substantially rotate,relative to lock 930 and, correspondingly, elongate shaft 904.Similarly, lock 930 can comprise a plurality of teeth positionedintermediate recesses 931 which can be configured to be received withinrecesses positioned intermediate teeth 925 on pivot plate 922, forexample. In various embodiments, also similar to the above, elongateshaft 904 can further comprise lock actuator 932 which can be configuredto move lock 930 between its locked and unlocked positions. In at leastone such embodiment, lock actuator 932 can comprise a solenoid, forexample.

In various embodiments, referring now to FIGS. 27-32, a surgicalinstrument, such as surgical instrument 1100, for example, can comprisean elongate shaft 1104 and an end effector 1106, wherein end effector1106 can be configured to articulate relative to elongate shaft 1104about articulation joint 1120. In at least one embodiment, similar tothe above, end effector 1106 can comprise pivot plate 1122 mountedthereto and, in addition, elongate shaft 1104 can comprise pin platemember 1126 mounted therein, wherein pin 127 extending from pin platemember 1126 can be closely received within pin aperture 123 in pivotplate 1122 in order to define an axis about which pivot plate 1122, andend effector 1106, can articulate relative to elongate shaft 1104. Alsosimilar to the above, elongate shaft 1104 can further comprise one ormore electromagnets which can be configured to generate a magneticfield, or fields, which can be configured to interact with one or moremagnetic elements mounted to end effector 1106. In at least one suchembodiment, referring primarily to FIGS. 28-31, pivot plate 1122 of endeffector 1106 can have a plurality of permanent magnets 1149 mountedthereto wherein, in at least one embodiment, permanent magnets 1149 canbe embedded within one or more cavities within pivot plate 1122. Incertain embodiments, similar to the above, permanent magnets 1149 canhave positive and negative poles which can be arranged in a suitablemanner such that, when electromagnets 1141 mounted within elongate shaft1104 are sufficiently energized, or polarized, permanent magnets 1149can interact with the magnetic field, or fields, generated byelectromagnets 1141. In at least one such embodiment, the positive polesof permanent magnets 1149 can be arranged such that their positive polesare positioned radially outwardly with respect to their negative poles.Stated another way, in at least one embodiment, the positive poles ofpermanent magnets 1149 can be positioned adjacent to surface 1125whereas the negative poles of magnets 1149 can be positioned distally,or at least somewhat distally, with respect to the positive poles. Incertain other embodiments, permanent magnets 1141 can be arranged suchthat their poles alternate. For example, permanent magnets 1141 can bearranged such that the radially outward end of a first magnet 1141 ispositive, for example, the radially outward end of a second magnet 1141is negative, and the radially outward end of a third magnet is positive,and so forth.

In various embodiments, further to the above, electromagnets 1141 can beselectively energized, or polarized, in order to retract or repelpermanent magnets 1149 and rotate end effector 1106 in a desireddirection. In certain embodiments, referring to FIGS. 28 and 30,electromagnets 1141 can be embedded in or positioned within one or morecavities in actuator member 1140. In at least one embodiment, a firstgroup of electromagnets 1141 can be energized, or polarized, such thattheir distal ends, i.e., their ends positioned adjacent to permanentmagnets 1149, generate negative poles, for example, while a second groupof electromagnets 1141 can remain unenergized, or unpolarized, or atleast substantially unenergized, or unpolarized. In at least one suchembodiment, as a result, the negative polarity of the distal ends ofelectromagnets 1141 can attract the positive poles of permanent magnets1149 and move permanent magnets 1149 toward the negative poleselectromagnets 1141. In various circumstances, the selectiveenergization, or polarization, of the first group of electromagnets 1141can displace permanent magnets 1149 such that end effector 1106 isrotated in a counter-clockwise direction, for example. In certaincircumstances, the first group of electromagnets 1141 can besubsequently de-energized, or de-polarized, or at least substantiallyde-energized, or de-polarized, and the second group of electromagnets1141 can be energized, or polarized, such that their distal endsgenerate a negative polarity which, similar to the above, attracts thepositive poles of permanent magnets 1149 in order to continue therotation of end effector 1106 in a counter-clockwise direction, forexample. In certain other embodiments, the first group of electromagnets1141 can be energized such that their distal ends generate a negativepolarity, for example, while the second group of electromagnets 1141 canbe energized such that their distal ends generate a positive polarity,for example. In various embodiments, the first and second groups can beenergized such that they have different polarities simultaneously or ina suitable alternating sequence.

Once end effector 1106 has been sufficiently articulated, further to theabove, end effector 1106 can be locked into position. In variousembodiments, referring to FIGS. 28-30 and 32, elongate shaft 1104 canfurther comprise lock 1130, wherein at least a portion of lock 1130 canbe moved between a distal, locked position, in which it is engaged withpivot plate 1122, for example, and a proximal, unlocked position inwhich it is sufficiently disengaged from pivot plate 1122 to allow endeffector 1106 to rotate about an axis defined by pin aperture 123 andpin 127. In at least one embodiment, lock 1130 can comprise a movablebrake shoe, such as brake shoe 1131, for example, which can be movedbetween proximal and distal positions. More particularly, in at leastone embodiment, pivot plate 1122 can include one or more permanentmagnets 1138 mounted thereto, wherein permanent magnets 1138 can beconfigured and arranged such that their positive, or north, poles, forexample, are positioned radially outwardly with respect to theirnegative, or south, poles, and wherein permanent magnets 1138 can beconfigured to attract brake shoe 1131 toward pivot plate 1122 such thatbrake shoe 1131 contacts brake surface 1125. In various embodiments,brake shoe 1131 can include one or more magnetic elements 1133 mountedthereto which can interact with the magnetic field, or fields, producedby permanent magnets 1138, wherein the magnetic field, or fields, canapply a sufficient magnetomotive force (mmf) to magnetic elements 1133such that the bearing force, or braking force, between brake shoe 1131and brake surface 1125 is sufficient to prevent, or at least inhibit,relative movement between pivot plate 1122 and pivot pin member 1126.

In order to disengage brake shoe 1131 from pivot plate 1122, in variousembodiments, magnetic elements 1133 can comprise electromagnets whichcan be selectively energized to order to create a magnetic field, orfields, which can move brake shoe 1131 away from pivot plate 1122. In atleast one circumstance, electromagnets 1133 can be energized in order togenerate positive poles at their distal ends, i.e., their ends closestto pivot plate 122, such that the positive poles generated byelectromagnets 1133 are repelled by the positive poles of permanentmagnets 1138. In various embodiments, electromagnets 1133 can be mountedto brake shoe 1131 such that, when a sufficient magnetomotive force isgenerated, brake shoe 1131 can be displaced proximally. Brake shoe 1131can be displaced proximally such that brake shoe 1131 is no longerengaged with brake surface 1125 and/or such that brake shoe 1131 isotherwise unable to apply a sufficient braking force to pivot plate 1122in order to hold end effector 1106 in position. In certain otherembodiments, the negative poles of permanent magnets 1138 can bepositioned radially outwardly such that, when electromagnets 1133 areenergized, negative poles generated at the distal ends of electromagnets1133 can be repelled by the negative poles of permanent magnets 1138. Inat least one embodiment, referring primarily to FIGS. 29 and 32, lock1130 can comprise one or more features for limiting the displacement ofbrake shoe 1131 such that brake shoe 1131 travels along a predeterminedpath, such as axis 1199, for example. In at least one such embodiment,lock 1130 can further comprise one or more projections, or travellimiters 1130 a, and brake shoe 1131 can further comprise stop arms 1131a, wherein travel limiters 1130 a and stop arms 1131 a can be configuredto prevent, or at least inhibit, relative movement between brake shoe1131 and lock 1130 which is transverse to axis 1199.

In various embodiments, further to the above, an articulation joint cancomprise first and second portions which can be configured to articulaterelative to one another. In various other embodiments, an articulationjoint can comprise more than two portions which can articulate relativeto one another. In at least one such embodiment, referring to FIGS.33-40, a surgical instrument, such as surgical instrument 1200, forexample, can comprise a handle assembly 1202, an elongate shaft 1204,and an end effector 1206, wherein articulation joint 1220 can beconfigured to permit end effector 1206 to rotate relative to elongateshaft 1204, and wherein articulation joint 1220 can comprise a pluralityof first joint members 1222 and a plurality of second joint members1226, for example. In certain embodiments, referring primarily to FIGS.34 and 35, first joint members 1222 and second joint members 1226 can bearranged in an alternating arrangement wherein, in at least oneembodiment, first joint members 1222 can each include one or morepermanent magnets mounted thereto and second joint members 1226 can eachinclude one or more electromagnets mounted thereto. Referring now toFIGS. 38 and 40, each first joint member 1222 can include a firstpermanent magnet 1249 a positioned within an aperture therein, such asan aperture 1248, for example, and, in addition, a second permanentmagnet 1249 b positioned within another aperture 1248 on the opposite,or at least substantially opposite, side of the first joint member 1222.Similarly, referring to FIGS. 36-40, each second joint member 1226 caninclude a first electromagnet 1240 a positioned within an aperturetherein, such as an aperture 1251, for example, and, in addition, asecond electromagnet 1240 b positioned within another aperture 1251 onthe opposite, or at least substantially opposite, side of second jointmember 1226. In various embodiments, referring again to FIGS. 34 and 35,joint members 1222 and 1226 can be arranged such that permanent magnets1249 a are aligned, or at least substantially aligned, withelectromagnets 1240 a and, in addition, permanent magnets 1249 b arealigned, or at least substantially aligned, with electromagnets 1240 b.

In various embodiments, further to the above, each electromagnet 1240 acan comprise a core, such as core 1241 a, for example, and a conductor,such as conductor 1247 a, for example, wherein conductors 1247 a can beconfigured to conduct current when a current source and/or voltagesource is supplied to conductors 1247 a, and wherein at least a portionof conductors 1247 a can be wrapped around cores 1241 a in order togenerate a magnetic field having a polarity. As outlined above, thepolarity of such magnetic fields may depend on the direction in whichcurrent is flowing through conductors 1247 a. Similar to the above, eachpermanent magnet 1240 b can comprise a core, such as core 1241 b, forexample, and a conductor, such as conductor 1247 b, for example, whereinconductors 1247 b can be configured to conduct current when a currentsource and/or voltage source is supplied to conductors 1247 b. In use,in at least one embodiment, end effector 1206 can be articulated to theright, or in a clockwise direction, for example, as illustrated in FIG.35, when current is supplied to, and/or voltage is applied to,conductors 1247 a such that current flows through conductors 1247 a in afirst direction. More particularly, referring again to FIG. 40,electromagnets 1240 a can be energized, or polarized, such that thenegative, or south, poles of permanent magnets 1249 a, marked with an“S”, are attracted to positive, or north, poles generated byelectromagnets 1240 a and, in addition, the positive poles of permanentmagnets 1249 a, marked with an “N”, are attracted to negative polesgenerated by electromagnets 1240 a. In such circumstances, referringagain to FIG. 35, the magnetomotive forces (mmf) between electromagnets1240 a and permanent magnets 1249 a can be sufficient to cause firstjoint members 1222 and second joint members 1226 to articulate relativeto each other. In certain embodiments, the joint members 1222 and 1226can articulate relative to each other until they abut one another. Incertain embodiments, end effector 1206 can be articulated to the left,or in a counter-clockwise direction, as illustrated in FIG. 33, whencurrent is supplied to, and/or voltage is applied to, conductors 1247 asuch that current flows through conductors 1247 a in a second, oropposite, direction. In such embodiments, referring again to FIG. 40,electromagnets 1240 a can be energized, or polarized, such that thenegative poles of permanent magnets 1249 are repelled by negative polesgenerated by electromagnets 1240 a and, in addition, the positive polesof permanent magnets 1249 a are repelled by poles generated byelectromagnets 1240 a.

In various embodiments, similar to the above, end effector 1206 can bearticulated to the left, or in a counter-clockwise direction, forexample, when current is supplied to, and/or voltage is applied to,conductors 1247 b such that current flows through conductors 1247 b in afirst direction. More particularly, referring again to FIG. 40,electromagnets 1240 b can be energized, or polarized, such that thenegative, or south, poles of permanent magnets 1249 b, marked with an“S”, are attracted to positive, or north, poles generated byelectromagnets 1240 b and, in addition, the positive poles of permanentmagnets 1249 b, marked with an “N”, are attracted to negative polesgenerated by electromagnets 1240 b. In such circumstances, referringagain to FIG. 33, the magnetomotive forces (mmf) between electromagnets1240 b and permanent magnets 1249 b can be sufficient to cause firstjoint members 1222 and second joint members 1226 to articulate relativeto each other. In certain embodiments, the joint members 1222 and 1226can articulate relative to each other until they abut one another. Alsosimilar to the above, end effector 1206 can be articulated to the right,or in a clockwise direction, as illustrated in FIG. 35, when current issupplied to, and/or voltage is applied to, conductors 1247 b such thatcurrent flows through conductors 1247 b in a second, or opposite,direction. In such embodiments, referring again to FIG. 40,electromagnets 1240 b can be energized, or polarized, such that thenegative poles of permanent magnets 1249 b are repelled by negativepoles generated by electromagnets 1240 b and, in addition, the positivepoles of permanent magnets 1249 b are repelled by positive polesgenerated by electromagnets 1240 b. In various embodiments, further tothe above, end effector 1206 and/or elongate shaft 1204 can include oneor more permanent magnets and/or electromagnets which can be configuredto articulate one or more of joint members 1222 and/or 1226.

In various embodiments, also further to the above, every electromagnet1240 a, for example, in articulation joint 1220 can be energizedsimultaneously in order to achieve a maximum rightward articulation ofend effector 1206. Similarly, every electromagnet 1240 b, for example,can be energized simultaneously in order to achieve a maximum leftwardarticulation of end effector 1206. In at least one embodiment, referringto FIG. 35, articulation joint 1220 can comprise three movable firstjoint members 1222 and three movable second joint members 1226, forexample. In at least one such embodiment, each of the six joint memberscan be configured to articulate approximately 10 degrees relative to anadjacent joint member, for example, resulting in approximately 70degrees of total articulation, for example. In certain embodiments,although not illustrated, a single conductor can be utilized toenergize, or polarize, each of the electromagnets 1240 a and, inaddition, a single conductor can be utilized to energize, or polarize,each of the electromagnets 1240 b. In effect, electromagnets 1240 a canbe placed in series with one another and, similarly, electromagnets 1240b can be placed in series with one another. In certain otherembodiments, as illustrated in FIG. 40, for example, each electromagnet1240 a can be activated independently of the other electromagnets 1240 aand, similarly, each electromagnet 1240 b can be activated independentlyof the other electromagnets 1240 b. In at least one such embodiment, theelectromagnets 1240 a, 1240 b can be selectively actuated such that endeffector 1206 can be articulated less than its maximum articulation. Forexample, only one electromagnet 1240 a may be energized, or polarized,in order to articulate end effector 1206 approximately 20 degrees; twoelectromagnets 1240 a may be energized, or polarized, to articulate endeffector 1206 approximately 40 degrees; and three electromagnets 1240 amay be energized, or polarized, to articulate end effector 1206approximately 70 degrees. In certain embodiments, end effector 1206and/or elongate shaft 1204 can include one or more electromagnets whichcan be actuated to articulate end effector 1206 more than 70 degrees,such as approximately 80 degrees, for example, or less than 20 degrees.

As described above, each electromagnet 1240 a, 1240 b can include aconductor 1247 a, 1247 b, respectively, which can be configured toconduct current. In various embodiments, conductors 1247 a and 1247 bcan comprise wires, for example, which can be sufficiently flexible toaccommodate relative movement between first joint members 1222 andsecond joint members 1226. In at least one embodiment, conductors 1247 aand 1247 b can extend through one or more throughholes 1298 in jointmembers 1222 and 1226, wherein conductors 1247 a and 1247 b can havesufficient slack such that they are not damaged when end effector 1206is articulated. In at least some embodiments, referring again to FIG.36, first joint members 1222 and/or second joint members 1226 canfurther comprise one or more channels 1296, for example, which can beconfigured to receive one or more conductors 1247 a and/or 1247 b suchthat the conductors can be seated flush with and/or below the faces ofjoint members 1222 and 1226. In various embodiments, one or moreconductors, such as conductors 1247 a and 1247 b, for example, canextend through passages 1250 of joint members 1222 and 1226. In at leastone such embodiment, passages 1250 can lie along a neutral axis of thearticulation joint such that the stress and strain applied to conductors1247 a and 1247 b can be minimized. Stated another way, in at least oneembodiment, a path extending through passages 1250 may define a lengththrough the articulation joint wherein the length does not change, or atleast substantially change, when the end effector is articulated suchthat the conductors are not subjected to large deformations.

In various embodiments, as described above, first joint members 1222 canbe configured to articulate relative to second joint members 1226 and,correspondingly, second joint members 1226 can be configured toarticulate relative to first joint members 1222. In at least oneembodiment, referring again to FIGS. 36-39, joint members 1222 and 1226can be coupled together by one or more ball and socket arrangements, orjoints. More particularly, each first joint member 1222 can include aball member 1227 which can be configured to be received within a socket1223 of an adjacent second joint member 1226. Similarly, each secondjoint member 1226 can also include a ball member 1227 which can beconfigured to be received within a socket 1223 of an adjacent firstjoint member 1222. In at least one such embodiment, ball members 1227can be spherical, or at least substantially spherical, and sockets 1223can comprise a semispherical, or an at least partially spherical,pocket. In various embodiments, the ball and socket joints can beconfigured to permit the first and second joint members 1222 and 1226 tomove in a side-to-side direction, an up-and-down direction, and/or anyother suitable direction. In various embodiments, ball members 1227 andsockets 1223 can define a passage 1254 which can be configured toslidably receive firing member 1250 (FIG. 35) and define a path forfiring member 1250, especially when end effector 1206 is in anarticulated position. In certain embodiments, one or more of the balland socket joints can be configured to limit the relative movementbetween joint members 1222 and 1226. In at least one such embodiment,one or more of the ball and socket joints can be configured to limit therelative movement between the first and second joint members such thatthe joint members can only move relative to each other along a plane,for example. Referring once again to FIG. 36, ball members 1227 caninclude one or more alignment flanges 1224, for example, extendingtherefrom which, referring now to FIGS. 37 and 38, can be configured tobe received within alignment grooves 1221, for example, defined withinsockets 1223. In at least one such embodiment, alignment ridges 1224 andalignment grooves 1221 can be sized and configured to limit the relativemovement between first joint members 1222 and second joint members 1226along a plane defined by alignment flanges 1224, for example.

In any event, further to the above, one or more first joint members 1222and one or more second joint members 1226 can be realigned along an axisafter they have been moved or articulated relative to one other. In atleast one embodiment, electromagnets 1240 a and 1240 b, for example, canbe energized in order to straighten out articulation joint 1220 and, inaddition, realign end effector 1206 with shaft 1204. More particularly,in at least one embodiment, electromagnets 1240 a and electromagnets1240 b can be energized simultaneously such that first joint members1222 and second joint members 1226 are positioned along a central axisdefined by shaft 1204. In certain embodiments, the magnitude of current,and/or power, supplied to electromagnets 1240 a and 1240 b can bedifferent, at least initially, in order to move joint members 1222 and1226 into substantial alignment with one another wherein, thereafter,the magnitude of the current and/or power supplied to electromagnets1240 a and 1240 b can be equalized, or at least substantially equalized,such that joint members 1222 and 1226 can be more precisely aligned. Incertain embodiments, the magnitude of the current and/or power suppliedto electromagnets 1240 a and 1240 b can be the same, or at leastsubstantially the same, initially, especially when end effector 1206 hasnot been significantly articulated.

In various embodiments, further to the above, an end effector of asurgical instrument can be articulated in more than one plane. In atleast one embodiment, referring now to FIGS. 41-45, a surgicalinstrument 1300 can comprise an elongate shaft 1304, an end effector1306, and an articulation joint 1320 which can be configured to permitend effector 1306 to articulate relative to shaft 1304. Similar toarticulation joint 1220, articulation joint 1320 can comprise aplurality of first joint members 1322 and a plurality of second jointmembers 1326 which can be configured to articulate relative to oneanother. Unlike joint members 1222 and 1226, though, joint members 1322and 1326 do not include alignment features 1221 and 1224 which limitrelative movement therebetween. In at least one embodiment, as a result,end effector 1306 can be articulated in a plurality of directions and/orplanes. In certain embodiments, referring primarily to FIG. 41, eachsecond joint member 1326 can include four electromagnets, such aselectromagnets 1340 a, 1340 b, 1340 c, and 1340 d, for example, whichcan be mounted to second joint member 1326 within apertures in jointmember 1326. In at least one such embodiment, electromagnets 1340 a-1340d can be positioned equidistantly with respect to each other and withrespect to the center of joint member 1326. Correspondingly, each firstjoint member 1322 can include four permanent magnets comprising,referring to FIG. 42, permanent magnets 1349 a, 1349 b, 1349 c (FIG.41), and a fourth permanent magnet not illustrated, wherein eachpermanent magnet 1349 a can be aligned with one or more electromagnets1340 a, wherein each permanent magnet 1349 b can be aligned with one ormore electromagnets 1340 b, wherein each permanent magnet 1349 c can bealigned with one or more electromagnets 1340 c, and wherein each fourthpermanent magnet can be aligned with one or more electromagnets 1340 d.

In use, similar to the above and referring to FIG. 43, electromagnets1340 a and/or electromagnets 1340 b can be selectively actuated in orderto articulate end effector 1306 relative to elongate shaft 1304 in leftand right directions. Stated another way, referring to FIG. 44, endeffector 1306 can be articulated in left and right directions withrespect to axis 1395 v, wherein, in some embodiments, axis 1395 v canextend through electromagnets 1340 c and 1340 d and can intersect, andextend transversely to, longitudinal axis 1399. In addition to theabove, electromagnets 1340 c and/or electromagnets 1340 d can beselectively actuated in order to articulate end effector 1306 relativeto elongate shaft 1304 in up and down directions. Stated another way,end effector 1306 can be articulated in up and down directions withrespect to axis 1395 h, wherein, in some embodiments, axis 1395 h canextend through electromagnets 1340 a and 1340 b and can intersect, andextend transversely to, longitudinal axis 1399. In various embodiments,any suitable combination of electromagnets 1390 a, 1390 b, 1390 c, and1390 d can be actuated in order to articulate end effector 1306 relativeto elongate shaft 1304 in any suitable direction. For example, referringagain to FIG. 44, electromagnets 1340 b and 1340 c can be actuated inorder to articulate end effector 1306 in a direction along axis 1395 n.In such an embodiment, the magnitude of the current flowing throughconductors 1347 b can be the same, or at least substantially the same,as the magnitude of the current flowing through conductors 1347 c suchthat the intensities of the magnetic fields generated by electromagnets1340 b and 1340 c can be the same, or at least substantially the same,such that they apply equal, or at least substantially equal,magnetomotive forces to their respectfully-aligned permanent magnets.Electromagnets 1340 a and 1340 d can be actuated in order to articulateend effector 1306 in an opposite direction along 1395 n. Similarly,electromagnets 1340 a and 1340 c can be actuated in order to articulateend effector 1306 in a direction along axis 1395 p and, in addition,electromagnets 1340 b and 1340 d can be actuated in order to articulateend effector 1306 in an opposite direction along axis 1395 p.

In various embodiments, as outlined above, electromagnets 1340 b and1340 c can be actuated in order to articulate end effector 1306 in adirection along axis 1395 n, for example. In at least one suchembodiment, electromagnets 1340 b and 1340 c can be actuated in order toattract permanent magnets 1349 b and 1349 c, respectively, thereto.Contemporaneously, in certain embodiments, electromagnets 1340 a and1340 d can be actuated in order to repel permanent magnets 1349 a and1349 d, respectively, in order to assist in the articulation of endeffector 1306. In various embodiments, in view of the above, anysuitable combination of electromagnets can be actuated such that theycan attract and/or repel the various permanent magnets associatedtherewith, for example, at the same time and/or in any suitable order.

As outlined above, various combinations of electromagnets 1340 a, 1340b, 1340 c, and 1340 d can be actuated in order to articulate endeffector 1306 wherein, in some embodiments, the same magnitude ofcurrent can be supplied to the actuated electromagnets in order toarticulate end effector 1306 along axes 1395 n and 1395 p, i.e., alongapproximately 45 degree angles with respect to axes 1395 v and 1395 h,for example. In other embodiments, different magnitudes of current canbe supplied to various electromagnets such that end effector 1306 isarticulated in other directions. For example, conductors 1347 c ofelectromagnets 1340 c can be supplied with a current which hasapproximately twice the magnitude of the current supplied to conductors1347 b of electromagnets 1340 b so as to articulate end effector 1306 ina direction which is intermediate axes 1395 n and 1395 v. In any event,electromagnets 1340 a, 1340 b, 1340 c, and 1340 d can all be actuatedsimultaneously in order to re-straighten articulation joint 1320 alonglongitudinal axis 1399, for example. In certain embodiments, referringonce again to FIGS. 41 and 43, articulation joint 1320 can furthercomprise one or more flexible straightening and alignment rods, such asrods 1343, for example, which can be configured to straightenarticulation joint 1320. In at least one such embodiment, the proximalends of rods 1343 can be mounted to elongate shaft 1304 wherein rods1343 can extend through apertures 1346 in joint members 1322 and 1326and extend into apertures 1397 in end effector 1306. When end effector1306 is articulated as described above, rods 1343 can be sufficientlyflexible to permit such articulation but can be sufficiently resilientto return back to their original shape once electromagnets 1340 a, 1340b, 1340 c, and 1340 d have been sufficiently deenergized. In at leastone embodiment, rods 1343 can be configured to slide within apertures1346 and apertures 1397 in order to accommodate the variousconfigurations of articulation joint 1320. Similar to the above,referring to FIGS. 41 and 45, joint members 1322 and 1326 can includeone or more throughholes 1398 a-1398 d which can be configured toslidably receive conductors 1347 a-1347 d therein, wherein conductors1347 a-1347 d can also be sufficiently flexible to accommodate thevarious configurations of articulation joint 1320.

As described above, a system of permanent magnets and electromagnets canbe utilized to articulate an end effector relative to an elongate shaftof a surgical instrument. In various embodiments, a surgical instrumentcan include a system of permanent magnets and electromagnets configuredto drive a cutting member and/or staple driver through an end effectorof the surgical instrument. In at least one embodiment, referring toFIGS. 46-50, a surgical instrument, such as surgical instrument 1400,for example, can include an end effector 1406, an elongate shaft 1404,and a cutting member 1452 configured to be advanced and/or retractedwithin end effector 1406. Referring primarily to FIGS. 46 and 50, endeffector 1406 can comprise a staple cartridge channel 1413 configured tosupport and/or retain staple cartridge 115, for example, therein. Endeffector 1406 can further comprise an anvil 1414 which can be rotatablycoupled to staple cartridge channel 1413 such that anvil 1414 can berotated between open and closed positions. As best illustrated in FIG.46, anvil 1414 can further include a plurality of permanent magnets 1417mounted thereto wherein, when anvil 1414 is in its closed position, forexample, permanent magnets 1417 can be configured to advance or retractcutting member 1452. More particularly, in at least one embodiment,cutting member 1452 can comprise one or more electromagnets 1456 (FIGS.48-50) which can be energized, or polarized, in order to create amagnetic field, or fields, which can interact with permanent magnets1417 and generate a magnetomotive force therebetween. In variousembodiments, such forces can displace cutting member 1452 proximallyand/or distally within end effector 1406. In at least one embodiment,permanent magnets 1417 can be secured within equidistant, or at leastsubstantially equidistant, apertures in anvil 1414 and, in addition,electromagnets 1456 can be mounted within upper shoe 1458. In variousembodiments, referring to FIG. 50, upper shoe 1458 can be configured tobe received within channel 1405a in anvil 1414 such that, when cuttingmember 1452 traverses anvil 1414, upper shoe 1458 can bias anvil 1414downwardly to compress tissue positioned intermediate anvil 1414 andstaple cartridge 115, for example.

In various embodiments, similar to the above, staple cartridge channel1413 can further include a plurality of permanent magnets 1419 mountedthereto wherein permanent magnets 1419 can be configured to advance orretract cutting member 1452. More particularly, in at least oneembodiment, cutting member 1452 can comprise one or more electromagnets1457 which can be energized, or polarized, in order to create a magneticfield, or fields, which can interact with permanent magnets 1419 andgenerate a magnetomotive force therebetween. In various embodiments,such forces can displace cutting member 1452 proximally and/or distallywithin end effector 1406. In at least one embodiment, permanent magnets1419 can be secured within equidistant, or at least substantiallyequidistant, apertures in staple cartridge channel 1413 and, inaddition, electromagnets 1457 can be mounted within lower shoe 1459. Invarious embodiments, referring to FIG. 50, lower shoe 1459 can beconfigured to be received within channel 1405 b in staple cartridge 115such that, when cutting member 1452 traverses staple cartridge 115,lower shoe 1459 can co-operate with upper shoe 1458 to compress tissuepositioned intermediate anvil 1414 and staple cartridge 115, forexample. In certain embodiments, various portions of staple cartridge115, staple cartridge channel 1413, and/or anvil 1414 can be comprisedof a non-conductive material, or materials, which can have a sufficientdielectric strength to prevent current from flowing betweenelectromagnets and/or between electromagnets and permanent magnets, yetbe sufficiently transmissive to magnetic fields. In any event, similarto the above, surgical instrument 1400 can further comprise one or moreconductors, such as wires 1484, for example, which can be configured tosupply electromagnets 1456 and/or 1457 with a flow of current in orderto selectively polarize electromagnets 1456 and 1457. In at least onesuch embodiment, similar to the above once again, the direction ofcurrent flowing through conductors 1484 can be selectively alternated inorder to control the poles generated by electromagnets 1456 and/or 1457.In various embodiments, at least a portion of conductors 1484 can beembedded within firing bar 1450. In certain embodiments, firing bar 1450can comprise two or more laminated layers, wherein, although notillustrated, at least a portion of conductors 1484 can be positionedintermediate the layers, and wherein the layers can be configured toprotect and/or electrically insulate conductors 1484 fromunintentionally grounding to one another and/or any other portion ofsurgical instrument 1400. In various embodiments, although notillustrated, conductors 1484 can comprise a flexible ribbon cable whichcan comprise a plurality of conductors 1484 arranged in parallel andelectrically insulated from one another. In any event, the system ofpermanent magnets and electromagnets within end effector 1406 may besufficient to advance and retract cutting member 1452 without anadditional firing force being transmitted to cutting member 1452 viafiring bar 1450, although firing bar 1450 can be configured to transmitan additional firing force to cutting member 1452.

In various embodiments, as outlined above, electromagnets can bepositioned on and/or within a cutting member movable within an endeffector. In use, the electromagnets can be actuated, or energized, suchthat they can produce a polarized magnetic field. In at least one suchembodiment, each electromagnet can include at least one conductorarranged in a wrapped configuration wherein, when current is supplied tothe conductor, the current can generate a field having positive andnegative poles. In certain embodiments, as also outlined above, ironcores positioned within the wrapped conductor can amplify the magneticfield produced by the current. Although electromagnets are entirelysuitable in various embodiments, any device capable of selectivelygenerating one or more magnetic fields can be used. In at least oneembodiment, for example, a polarizable device can include an annular, ortoroidal, permanent magnet, and/or iron core, wherein a conductor canextend through an aperture therein, and wherein a magnetic fieldproduced by current flowing through the conductor can be amplified bythe annular iron core surrounding the conductor. In variouscircumstances, the magnetic field produced by such a device may besufficient to create a usable magnetomotive force as described herein.In certain embodiments, fields produced by a Hall Effect device, orcoil, can be utilized to move a cutting member, for example, within anend effector.

In various embodiments, either in addition to or in lieu of the above, asurgical instrument can comprise a system of permanent magnets andelectromagnets configured to advance and/or retract a firing bar withinan elongate shaft of a surgical instrument. Referring now to FIGS.51A-51C and 53, surgical instrument 1500 can comprise an elongate shaft1504 and a firing bar 1550, wherein firing bar 1550 can be advanceddistally (FIG. 53) and/or retracted proximally (FIGS. 51A-51C) in orderto move a cutting member and/or staple driver, such as cutting member1452, for example, within an end effector in order to incise tissueand/or deploy staples into the tissue, for example. In certainembodiments, shaft 1504 can comprise spine 1516 which can comprise oneor more slots configured to permit firing bar 1550 to slide therein. Inat least one such embodiment, elongate shaft 1504 can further compriseone or more electromagnets 1556 mounted to spine 1516 which can beconfigured to selectively generate one or more magnetic fields. Similarto the above, such magnetic fields can interact with permanent magnets1517 mounted to drive bar 1550 such that the magnetomotive forcegenerated between electromagnets 1556 and permanent magnets 1517 canmove permanent magnets 1517, and drive bar 1550, relative toelectromagnets 1556, and spine 1516. In at least one embodiment,referring now to FIG. 52, elongate shaft 1504 can include a first set ofelectromagnets 1556 positioned on one side of firing bar 1550 and asecond set of electromagnets 1556 positioned on the opposite side offiring bar 1550. Correspondingly, a first set of permanent magnets 1517can be positioned on a first side of firing bar 1550 and a second set ofpermanent magnets 1517 can be positioned on the opposite side of firingbar 1550. Also similar to the above, the current supplied toelectromagnets 1556 can be selectively supplied in order to generatepositive poles, negative poles, and/or no polarity within electromagnets1556, as needed, in order to sufficiently attract and repel the positiveand negative poles of permanent magnets 1517. In certain embodiments,referring again to FIG. 52, elongate shaft 1504 can further comprise oneor more conductors 1584 which can be configured to supply current toelectromagnets 1556. In certain embodiments, conductors 1584 cancomprise a ribbon cable positioned intermediate spine 1516 andelectromagnets 1556, wherein spine 1516 can be comprised of anelectrically non-conductive material, for example.

In various embodiments, further to the above, a surgical instrument cancomprise a system including magnetic elements, such as iron cores and/orpermanent magnets, for example, and selectively actuatableelectromagnets, wherein the system can comprise a linear motorconfigured to move a firing bar and/or cutting member along apredetermined path, and wherein the path can comprise linear portionsand/or curved portions in one or more directions. In variousembodiments, the surgical instrument can further comprise a computer, orprocessor, which can be configured to calculate the appropriatemagnitude, duration, and/or direction of the current to be supplied tothe electromagnets. In certain embodiments, the surgical instrument canfurther comprise one or more switches which can be operated by thecomputer in order to selectively supply current to one or moreelectromagnets. In certain embodiments, although not illustrated, asurgical instrument can include a handle, an elongate shaft extendingfrom the handle, and an end effector operably coupled to the shaft,wherein the shaft can include one or more conductors wound about an axisor predetermined path within the shaft. In at least one such embodiment,a firing bar, or rod, having an iron portion, for example, can bepositioned within an aperture defined by the wound conductors such that,when current is supplied to the conductors, the magnetic field, orfields, generated by the flow of current can move the iron firing baralong the predetermined path. In at least one embodiment, similar to theabove, current flowing through the conductors in a first direction canmove the firing bar distally within the shaft, for example, and, inaddition, current flowing through the conductors in an oppositedirection can move the firing bar in an opposite, or proximal,direction.

In various embodiments, an elongate shaft of a surgical instrument caninclude a solenoid configured to advance and/or retract a firing bar,cutting member, and/or staple driver. In at least one embodiment,referring to FIGS. 54 and 55, surgical instrument 1600 can comprise ahandle assembly 1602, an elongate shaft 1604, and a firing bar 1650.Similar to handle assembly 102, handle assembly 1602 can furthercomprise a trigger (not illustrated) configured to advance and/orretract firing bar 1650. In at least one embodiment, the trigger ofhandle assembly 1602 can be configured to close, or complete, a circuitwhen actuated, wherein the closed circuit can be configured to supplycurrent to a solenoid operably engaged with firing bar 1650. In certainembodiments, although not illustrated, handle assembly 1602, forexample, can include one or more batteries positioned therein, whereinthe batteries, and one or more conductors, can be configured to supplythe current to the solenoid. In at least one embodiment, the solenoidcan comprise windings 1656 which can be energized by the current inorder to generate a polarized magnetic field. Similar to the above, thesolenoid can further comprise a magnetic element 1617, which can becomprised of iron, for example, which can be configured to interact withthe magnetic field. In use, current flowing in a first direction can besupplied to windings 1656 such that the magnetic field produced bywindings 1656 can advance magnetic element 1617, and drive bar 1650mounted thereto, distally within elongate shaft 1604 as illustrated inFIG. 55. In certain embodiments, the trigger can be released in order todisconnect the supply of current to windings 1656 and stop theadvancement of firing bar 1650. In at least one such embodiment, handleassembly 1602 and/or elongate shaft 1604 can include one or more springs(not illustrated) which can be configured to bias magnetic element 1617and firing bar 1650 back into their starting positions which areillustrated in FIG. 54. In other embodiments, the current flowing withinwindings 1656 can be reversed when the firing trigger is released suchthat the polarity of the magnetic field generated by windings 1656 isreversed and magnetic element 1617 is retracted. In yet otherembodiments, the trigger of handle assembly 1602 can be actuated onceagain in order to reverse the current within windings 1656 and retractmagnetic element 1617.

In various embodiments, although not illustrated, a surgical instrumentcan include a handle, a shaft extending from the handle, and an endeffector operably coupled to the shaft, wherein the shaft can include arotatable drive shaft, and wherein the surgical instrument can furtherinclude a motor configured to rotate the drive shaft. Various surgicalinstruments including a motor and a rotatable drive shaft are disclosedin U.S. Pat. No. 7,422,139 to Shelton, IV, et al., entitled MOTOR-DRIVENSURGICAL CUTTING FASTENING INSTRUMENT WITH TACTILE POSITION FEEDBACK,which issued on Sep. 9, 2008; and U.S. Pat. No. 7,416,101 to Shelton,IV, et al., entitled MOTOR-DRIVEN SURGICAL CUTTING AND FASTENINGINSTRUMENT WITH LOADING FORCE FEEDBACK, which issued on Aug. 28, 2008,the entire disclosures of which are incorporated by reference herein. Inat least one embodiment, the motor of the surgical instrument cancomprise a stepper motor which can be configured to rotate a drive shaftthrough a predetermined range of rotation. In at least one embodiment,one or more magnetic elements, such as iron cores, for example, can beplaced on or embedded within the drive shaft, wherein the magneticelements can be configured to be detected by one or more sensorspositioned within the shaft, for example. In certain embodiments, suchsensors can comprise Hall Effect sensors, or coils, which can beconfigured to detect disruptions within one or more magnetic fields,i.e., disruptions created by the magnetic elements.

In various embodiments, although not illustrated, a surgical instrumentcan include a system of electromagnets and magnetic elements which canbe configured to close and/or open an end effector of a surgicalinstrument. In at least one such embodiment, similar to the above, theend effector can comprise a staple cartridge channel configured toreceive a staple cartridge and, in addition, an anvil rotatably coupledto the staple cartridge channel. In certain embodiments, one or moreelectromagnets can be positioned within the staple cartridge channeland, in addition, one or more magnetic elements can be positioned withinthe anvil, wherein, when the electromagnets are energized, or polarized,the electromagnets can generate a magnetic field which can move themagnetic elements toward the electromagnets and, as a result, move theanvil between an open position and a closed position. In some suchembodiments, the polarity of the electromagnets can be reversed in orderto repel the magnetic elements mounted to the anvil and, as a result,move the anvil between a closed position and an open position. In otherembodiments, the current being supplied to the electromagnets can besufficiently reduced, or disconnected, such that the electromagnetscannot produce a sufficient magnetic field to hold the anvil in itsclosed position. In at least one such embodiment, the end effector canfurther comprise a spring which can be configured to bias the anvil intoits open position such that, when the electromagnets are sufficientlydeenergized as described above, the spring can move the anvil into itsopen position. In various alternative embodiments, the electromagnetscan be configured to bias the anvil into its open position and thespring can be configured to bias the anvil into its closed position.

While the present invention has been illustrated by the description ofseveral embodiments and while the illustrative embodiments have beendescribed in considerable detail, it is not the intention of theapplicant to restrict or in any way limit the scope of the appendedclaims to such detail. Additional advantages and modifications mayreadily appear to those skilled in the art. Furthermore, although theembodiments disclosed herein have been described in connection with anendoscopic cutting and stapling instrument, other embodiments areenvisioned in connection with any suitable medical device. While thisinvention has been described as having exemplary designs, the presentinvention may be further modified within the spirit and scope of thedisclosure. This application is therefore intended to cover anyvariations, uses, or adaptations of the invention using its generalprinciples. Further, this application is intended to cover suchdepartures from the present disclosure as come within known or customarypractice in the art to which this invention pertains.

Further to the above, the various embodiments of the present inventionhave been described above in connection with cutting-type surgicalinstruments. It should be noted, however, that in other embodiments, thesurgical instruments disclosed herein need not be a cutting-typesurgical instrument. For example, it could be a non-cutting endoscopicinstrument, a grasper, a stapler, a clip applier, an access device, adrug/gene therapy delivery device, an energy device using ultrasound,RF, laser, etc. Although the present invention has been described hereinin connection with certain disclosed embodiments, many modifications andvariations to those embodiments may be implemented. For example,different types of end effectors may be employed. Also, where materialsare disclosed for certain components, other materials may be used. Theforegoing description and following claims are intended to cover allsuch modification and variations.

Further to the above, the various staple cartridges disclosed herein canbe disposable. In at least one embodiment, an expended staple cartridge,or an at least partially expended staple cartridge, can be removed froma surgical stapler and replaced with another staple cartridge. In othervarious embodiments, the staple cartridge may not be removable and/orreplaceable during the ordinary use of the surgical instrument but, insome circumstances, may be replaceable while and/or after the surgicalstapler is reconditioned as described in greater detail below. Invarious embodiments, the staple cartridge can be part of a disposableloading unit or end-effector which can further include a staplecartridge carrier, anvil, cutting member, and/or staple driver. In atleast one such embodiment, the entire, or at least a portion of, thedisposable loading unit or end-effector can be detachably connected to asurgical instrument and can be configured to be replaced.

The devices disclosed herein can be designed to be disposed of after asingle use, or they can be designed to be used multiple times. In eithercase, however, the device can be reconditioned for reuse after at leastone use. Reconditioning can include any combination of the steps ofdisassembly of the device, followed by cleaning or replacement ofparticular pieces, and subsequent reassembly. In particular, the devicecan be disassembled, and any number of the particular pieces or parts ofthe device can be selectively replaced or removed in any combination.Upon cleaning and/or replacement of particular parts, the device can bereassembled for subsequent use either at a reconditioning facility, orby a surgical team immediately prior to a surgical procedure. Thoseskilled in the art will appreciate that reconditioning of a device canutilize a variety of techniques for disassembly, cleaning/replacement,and reassembly. Use of such techniques, and the resulting reconditioneddevice, are all within the scope of the present application.

Preferably, the invention described herein will be processed beforesurgery. First, a new or used instrument is obtained and if necessarycleaned. The instrument can then be sterilized. In one sterilizationtechnique, the instrument is placed in a closed and sealed container,such as a plastic or TYVEK bag. The container and instrument are thenplaced in a field of radiation that can penetrate the container, such asgamma radiation, x-rays, or high-energy electrons. The radiation killsbacteria on the instrument and in the container. The sterilizedinstrument can then be stored in the sterile container. The sealedcontainer keeps the instrument sterile until it is opened in the medicalfacility.

Any patent, publication, or other disclosure material, in whole or inpart, that is said to be incorporated by reference herein isincorporated herein only to the extent that the incorporated materialsdoes not conflict with existing definitions, statements, or otherdisclosure material set forth in this disclosure. As such, and to theextent necessary, the disclosure as explicitly set forth hereinsupersedes any conflicting material incorporated herein by reference.

1. A surgical stapler, comprising: a shaft; a first magnetic element; anarticulation joint; a second magnetic element; and an end effector,wherein said end effector is movably coupled to said shaft by saidarticulation joint, said end effector comprising: a staple cartridgechannel configured to receive a staple cartridge; and an anvil movablycoupled to said staple cartridge channel, wherein one of said firstmagnetic element and said second magnetic element is configured to applya magnetic force to the other of said first magnetic element and saidsecond magnetic element, and wherein said magnetic force is sufficientto articulate said end effector relative to said shaft.
 2. The surgicalstapler of claim 1, further comprising an actuator and a power source,wherein said actuator is actuatable to operably couple said power sourceand said first magnetic element.
 3. The surgical stapler of claim 2,wherein said first magnetic element comprises an electromagnetenergizable by electrical current from said power source.
 4. Thesurgical stapler of claim 3, wherein said actuator is configured toswitch the polarity of electrical current supplied to saidelectromagnet.
 5. The surgical stapler of claim 1, wherein said firstmagnetic element is configured to generate a magnetic field.
 6. Thesurgical stapler of claim 5, wherein said magnetic field is sufficientto lock the position of said end effector relative to said shaft.
 7. Thesurgical stapler of claim 1, wherein said second magnetic elementcomprises a permanent magnet.
 8. The surgical stapler of claim 1,wherein said second magnetic element comprises iron.
 9. The surgicalstapler of claim 1, wherein said articulation joint comprises a firstjoint member and a second joint member, wherein said first magneticmember is mounted to said first joint member, wherein said secondmagnetic member is mounted to said second joint member, and wherein saidsecond joint member is configured to articulate relative to said firstjoint member.
 10. The surgical stapler of claim 9, wherein said firstjoint member is configured to articulate relative to said shaft, andwherein said end effector is configured to articulate relative to saidsecond joint member.
 11. The surgical stapler of claim 9, wherein one ofsaid first joint member and said second joint member comprises a ballmember, wherein the other of said first joint member and said secondjoint member comprises a socket, and wherein said ball member isconfigured to move within said socket to permit said second joint memberto articulate relative to said first joint member.
 12. The surgicalstapler of claim 11, wherein one of said ball member and said socketcomprises a flange, wherein the other of said ball member and saidsocket comprises a groove configured to receive said flange, and whereinsaid flange and said groove are configured to define a plane in whichsaid end effector can articulate relative to said shaft.
 13. Thesurgical stapler of claim 9, further comprising an elastic rod extendingthrough said first joint member and said second joint member, whereinsaid elastic rod is configured to bias said end effector into anon-articulated position.
 14. The surgical stapler of claim 13, whereinsaid first joint member comprises a first rod aperture and said secondjoint member comprises a second rod aperture, wherein said elastic rodis slidably received within said first rod aperture and said second rodaperture, wherein said elastic rod is mounted to one of said endeffector and said shaft, and wherein the other of said end effector andsaid shaft comprises an end rod aperture configured to slidably receivean end of said elastic rod.
 15. A surgical stapler, comprising: a shaft;an articulation joint, comprising: a first joint member comprising afirst electromagnet and a second electromagnet; a second joint membercomprising a first magnetic element and a second magnetic element,wherein said second joint member is articulatable relative to said firstjoint member; an end effector, wherein said end effector is movablycoupled to said shaft by said articulation joint, said end effectorcomprising: a staple cartridge channel configured to receive a staplecartridge; and an anvil movably coupled to said staple cartridgechannel, wherein said first electromagnet is configured to selectivelygenerate a first magnetic field configured to move said first magneticelement relative to said first electromagnet and articulate said endeffector in a first direction, and wherein said second electromagnet isconfigured to selectively generate a second magnetic field configured tomove said second magnetic element relative to said second electromagnetand articulate said end effector in a second direction.
 16. The surgicalstapler of claim 15, wherein said articulation joint further comprisesan articulation axis, wherein said first electromagnet is positioned ona first side of said articulation axis, and wherein said secondelectromagnet is positioned on a substantially opposite side of saidarticulation axis.
 17. The surgical stapler of claim 16, wherein saidfirst magnetic element is aligned with said first electromagnet along afirst axis, wherein said second magnetic element is aligned with saidsecond electromagnet along a second axis, wherein said first axis issubstantially parallel to said articulation axis, and wherein saidsecond axis is substantially parallel to said articulation axis.
 18. Thesurgical stapler of claim 15, wherein said first joint member furthercomprises a third electromagnet and a fourth electromagnet, wherein saidsecond joint member further comprises a third magnetic element and afourth magnetic element, wherein said third electromagnet is configuredto selectively generate a third magnetic field configured to move saidthird magnetic element relative to said third electromagnet andarticulate said end effector in a third direction, and wherein saidfourth electromagnet is configured to selectively generate a fourthmagnetic field configured to move said fourth magnetic element relativeto said fourth electromagnet and articulate said end effector in afourth direction.
 19. A surgical stapler, comprising: a shaft; an endeffector, wherein said end effector is movably coupled to said shaft,said end effector comprising: a staple cartridge channel configured toreceive a staple cartridge; and an anvil movably coupled to said staplecartridge channel; a first electromagnet mounted to said shaft; a secondelectromagnet mounted to said shaft; a plurality of magnetic elementsmounted to said end effector, wherein said first electromagnet isconfigured to generate a first magnetic field to move at least one ofsaid magnetic elements and articulate said end effector in a firstdirection, and wherein said second electromagnet is configured togenerate a second magnetic field to move at least one of said magneticelements and articulate said end effector in a second direction.
 20. Thesurgical stapler of claim 20, wherein said plurality of magneticelements comprise a plurality of permanent magnets, and wherein saidpermanent magnets are arranged in an arcuate array on said end effector.21. The surgical stapler of claim 21, wherein each said permanent magnetcomprises a positive pole and a negative pole, and wherein saidpermanent magnets are arranged such that their positive and negativepoles lie in an alternating arrangement.
 22. The surgical stapler ofclaim 20, further comprising a sensor, wherein said end effector furthercomprises a plurality of detectable features which can be detected bysaid sensor, and wherein said detectable features can be configured toindicate the position of said end effector relative to said shaft. 23.The surgical stapler of claim 22, wherein said sensor can comprise aphotosensor, and wherein said detectable features can comprise an atleast partially annular array of markings.
 24. A surgical stapler,comprising: a shaft including a proximal magnetic element; an endeffector movably coupled to said shaft, said end effector comprising: astaple cartridge channel configured to receive a staple cartridge; ananvil movably coupled to said staple cartridge channel; and a distalmagnetic element, and an articulation joint including at least oneintermediate magnetic element positioned intermediate said proximalmagnetic element and said distal magnetic element, wherein said proximalmagnetic element is configured to apply a first magnetic force to saidintermediate magnetic element, wherein said intermediate magneticelement is configured to apply a second magnetic force to said distalmagnetic element, and wherein said first and second magnetic forces aresufficient to articulate said end effector relative to said shaft. 25.The surgical stapler of claim 24, further comprising an actuator,wherein said actuator is operably coupled to a power source, and whereinsaid actuator is configured to selectively supply electrical current tosaid proximal magnetic element.
 26. The surgical stapler of claim 25,wherein the electrical current supplied to said proximal magneticelement is sufficient to lock the position of said intermediate magneticmember relative to said shaft.
 27. The surgical stapler of claim 25,wherein said actuator is configured to selectively switch the polarityof electrical current supplied to said proximal magnetic element. 28.The surgical stapler of claim 24, further comprising an actuator,wherein the operation of said actuator is configured to change thepolarity of said proximal magnetic element.